Multi-rotor unmanned aerial vehicle

Abstract

The invention relates to the field of multi-rotor unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle which comprises a vehicle body, four L-shaped connecting rods are symmetrically and slidably connected to the bottom end of the vehicle body, a square frame is fixedly connected to the bottom ends of the four L-shaped connecting rods, and the square frame comprises four clamping plates. The four clamping plates are fixedly connected to the bottom ends of the four L-shaped connecting rods correspondingly. By arranging the four L-shaped connecting rods, the clamping plate fixed to the connecting rods, and the turnover door and the bottom plate which are rotationally connected to the clamping plate correspondingly, when the turnover door and the bottom plate are closed, a stable container is formed, and scattered small articles can be efficiently contained and transported; when large cargoes need to be grabbed, the turnover door and the bottom plate can be opened through the driving assembly, then the clamping plate is driven to synchronously move inwards, stable clamping of a large box is achieved, and the problems that in the prior art, an unmanned aerial vehicle is single in loading function, and bulk cargo containing and whole box grabbing cannot be both considered are solved.

Description

Technical Field

[0001] This invention relates to the field of multi-rotor drones, and more particularly to a multi-rotor drone. Background Technology

[0002] In recent years, with the rapid development of drone technology, multi-rotor drones have demonstrated enormous application potential in logistics, emergency rescue, and special operations due to their advantages such as vertical takeoff and landing and high maneuverability. Among these, the stable, reliable, and efficient capture and transport of goods is a key technological aspect for expanding their application scope.

[0003] For example, the invention patent with application number CN201410241181.7 discloses a multi-rotor drone, which includes a long and streamlined fuselage. The fuselage is provided with a plurality of propeller arms that are symmetrically distributed with respect to the plane of symmetry in the fuselage. Each propeller arm has a blade assembly at its outer end. The blade assembly includes a motor mounted on the propeller arm and a blade connected to the output shaft of the motor. The rotation axis of each blade is located on the same cylindrical surface.

[0004] In existing technologies, when using multi-rotor drones to transport goods, a multi-degree-of-freedom robotic arm is usually equipped under the fuselage to actively grasp the goods. However, when transporting small, scattered items, due to the small size of the items, the gripper has difficulty finding a stable and reliable gripping point, which easily leads to gripping failure, item slippage, or falling midway. Furthermore, it can only grasp one or a very small number of items at a time, resulting in low transportation efficiency and making it inconvenient to meet the logistics needs of delivering multiple small packages at once.

[0005] Therefore, this invention proposes a multi-rotor unmanned aerial vehicle (UAV) to solve the above-mentioned problems. Summary of the Invention

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a multi-rotor unmanned aerial vehicle (UAV), comprising: a body, wherein four L-shaped connecting rods are symmetrically slidably connected to the bottom end of the body, and a square frame is fixedly connected to the bottom end of the four L-shaped connecting rods, the square frame comprising: Four clamping plates are fixedly connected to the bottom ends of four L-shaped connecting rods. Each clamping plate has a symmetrically rotatably connected flip-up door at both ends, and a base plate is rotatably connected to its bottom end. The flip-up doors on two adjacent clamping plates on the same side close together to form a complete sidewall. When all four base plates are horizontal, they together form a complete load-bearing base wall. A first rotation drive assembly is used to drive the base plate to rotate. The second rotary drive assembly is used to drive the flip door to flip, making way for the clamping plate to move and clamp the item. A pushing mechanism is used to move four L-shaped connecting rods so that the four clamping plates move closer together to clamp the item.

[0007] Preferably, the actuating component includes: A first connecting rod is rotatably connected at its bottom end to the outer wall of the clamping plate, and a second connecting rod is rotatably connected at its top end. The top end of the second connecting rod is slidably connected to the bottom end of the machine body, and a first spring is fixedly connected between the second connecting rod and the machine body. A push frame is slidably connected to the bottom end of the machine body, and the push frame is fixedly connected to the second connecting rod; Two electric cylinders are fixedly connected to the machine body, and the bottom end of the telescopic rod of the electric cylinder is fixedly connected to the push frame.

[0008] Preferably, the first rotation drive component includes: Two first gears are symmetrically and fixedly connected to the rotating shaft of the base plate; The U-shaped rack and pinion frame is slidably connected to the side wall of the clamping plate, and the bottom end of the U-shaped rack and pinion frame meshes with the first gear; A pushing component is used to push the U-shaped rack and pinion carrier downward.

[0009] Preferably, the second rotary drive component includes: The second gear is rotatably connected to the pivot of the flip door; A drive rack is slidably connected to the top of a clamping plate, and a first drive plate is fixedly connected to the side of the drive rack. A first inclined groove is provided on the side wall of the first drive plate. A drive rod, one end of which is fixedly connected to a U-shaped rack frame at a corresponding position, and the other end of which is fixedly connected to a first sliding pin, which is slidably connected in a first inclined groove.

[0010] Preferably, the actuating component includes: The second drive plate is fixedly connected to the side wall of the U-shaped rack frame, and the side wall of the second drive plate is provided with a drive groove; A slider is slidably connected to the bottom end of an L-shaped connecting rod, and a second sliding pin is fixedly connected to the end of the slider, the second sliding pin being slidably connected in a drive groove; An electromagnetic induction block is fixedly connected to the outer wall of the clamping plate; An electromagnet is fixedly connected to the slider, and a second spring is fixedly connected between the U-shaped rack and the clamping plate.

[0011] Preferably, the drive groove includes a first straight groove and a second inclined groove.

[0012] Preferably, the inner wall of the clamping plate is provided with a groove, an airbag is fixedly connected in the groove, and an anti-slip pad is fixedly connected to the outer wall of the airbag.

[0013] Preferably, it also includes a compression shell, which is fixedly connected to the outer wall of the clamping plate. A piston is slidably connected inside the compression shell, and a fixing frame is fixed to the top of the piston. The fixing frame is fixedly connected to the side wall of the U-shaped rack frame. The airbag is connected to the air passage of the compression shell.

[0014] Preferably, the machine body has two support legs that are symmetrically fixedly connected to both sides.

[0015] Compared with the prior art, the present invention has the following beneficial effects: I. This invention, by setting up four L-shaped connecting rods, clamping plates fixed to the connecting rods, and a flip door and a bottom plate rotatably connected to the clamping plates respectively, forms a stable container when the flip door and the bottom plate are closed, which can efficiently accommodate and transport small, loose items. When it is necessary to grab large items, the flip door and the bottom plate can be opened by the drive assembly, and then the clamping plates are driven to move inward synchronously to achieve stable clamping of large boxes. This solves the problem that the existing technology of UAVs has a single cargo carrying function and cannot take into account both loose cargo and full box grabbing.

[0016] Second, by setting the first gear and U-shaped rack frame, drive rod and first inclined groove, the present invention can, on the one hand, drive in conjunction to ensure the opening and closing of the bottom plate and the flip door, and on the other hand, when the U-shaped rack frame moves down to open the frame, it can synchronously drive the piston to compress the gas to inflate the airbag, so that the anti-slip pad on the inner wall of the clamping plate can tightly fit the irregular surface of the goods.

[0017] Third, this invention sets up an induction electromagnetic block, an electromagnet, and a first straight groove and a second inclined groove. In the initial state, the electromagnet is de-energized, and the slider is located in the initial position under the action of the second spring. At this time, the second sliding pin is located above the first straight groove of the drive groove. The first straight groove limits the vertical direction of the U-shaped rack frame, thereby improving the stability of the U-shaped rack frame and thus improving the stability after the base plate is closed. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram showing the connection between the clamping plate, the base plate, and the flip door in the unfolded state of the present invention. Figure 4 This is a schematic diagram showing the connection of the clamping plate, the base plate, and the flip door in the closed state of the present invention; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 This is a schematic diagram showing the connection between the first gear and the U-shaped rack frame in this invention; Figure 7 This is a schematic diagram showing the connection between the second gear and the drive rack in this invention.

[0019] In the diagram: 1. Body; 2. Support leg; 3. L-shaped connecting rod; 4. Clamping plate; 5. Groove; 6. Airbag; 601. Anti-slip pad; 7. Flip door; 8. Base plate; 9. First connecting rod; 10. Second connecting rod; 11. First spring; 12. Push frame; 13. Electric cylinder; 14. First gear; 15. U-shaped rack frame; 16. Second gear; 17. Drive rack; 18. First drive plate; 19. First inclined groove; 20. Drive rod; 21. First sliding pin; 22. Second drive plate; 23. Drive groove; 23. First straight groove; 2301. Second inclined groove; 2302. Slider; 24. Second sliding pin; 25. Induction electromagnetic block; 26. Electromagnet; 27. Second spring; 28. Compression shell; 29. ​​Piston; 30. Fixing frame; 31. Detailed Implementation

[0020] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0021] like Figures 1 to 7 The multi-rotor unmanned aerial vehicle shown includes: Body 1, with four L-shaped connecting rods 3 symmetrically slidably connected to the bottom end of body 1, and a square frame fixedly connected to the bottom end of the four L-shaped connecting rods 3, the square frame comprising: Four clamping plates 4 are fixedly connected to the bottom ends of four L-shaped connecting rods 3 respectively. The two ends of the clamping plates 4 are symmetrically connected to the flip doors 7, and the bottom end of the clamping plates 4 is rotatably connected to the bottom plate 8. The first rotation drive assembly is used to drive the base plate 8 to rotate. The second rotary drive assembly is used to drive the flip door 7 to flip, so as to make way for the clamping plate 4 to move and clamp the item. The pushing mechanism is used to move the four L-shaped connecting rods 3 so that the four clamping plates 4 come closer to each other and clamp the items. The flip doors 7 on two adjacent clamping plates 4 on the same side can be joined together to form a complete side wall when closed. When all four bottom plates 8 are in a horizontal state, they are joined together to form a complete load-bearing bottom wall. As one possible implementation of the driving component, the driving component includes: The first link 9 is rotatably connected to the outer wall of the clamping plate 4 at its bottom end, and the second link 10 is rotatably connected to the top end of the first link 9. The top end of the second link 10 is slidably connected to the bottom end of the body 1, and a first spring 11 is fixedly connected between the second link 10 and the body 1. Push frame 12 is slidably connected to the bottom end of body 1, and push frame 12 is fixedly connected to the second connecting rod; Two electric cylinders 13 are fixedly connected to the machine body 1, and the bottom end of the telescopic rod of the electric cylinder 13 is fixedly connected to the push frame 12. Specifically, in existing technologies, when using multi-rotor drones to transport goods, a multi-degree-of-freedom robotic arm is typically mounted under the drone to actively grasp the cargo. However, when transporting small, scattered items, due to the small size of the items, the grippers struggle to find stable and reliable gripping points, easily leading to gripping failures, item slippage, or items falling midway. Furthermore, only one or a very small number of items can be grasped at a time, resulting in low transportation efficiency and making it unsuitable for meeting the logistics needs of delivering multiple small packages at once. This technical solution can solve the above problems, and the specific operation is as follows: When transporting small, loose items, the four clamping plates 4, the two flip doors 7, and the bottom plate 8 can be connected to form a complete square frame when closed, which is beneficial for transporting multiple small, loose items and improving transportation efficiency. When it is necessary to transport the packaged parcel, the first and second rotary drive components drive the base plate 8 and the flip door 7 to flip. The base plate 8 flips to the side of the clamping plate 4, and the flip door 7 flips and folds, thus making way for the clamping plates 4 to move closer together to clamp the items. After the base plate 8 and the flip door 7 are flipped, the electric cylinder 13 is activated. The telescopic rod of the electric cylinder 13 pushes the push frame 12 downward. The push frame 12 drives the first link 9 through the second link 10. Since the bottom end of the first link 9 is hinged to the clamping plate 4 and the top end is slidably connected to the machine body 1 through the second link 10, this movement will be converted into the pushing force of the four clamping plates 4, so that the four L-shaped connecting rods 3 drive the clamping plates 4 to converge towards the center along the slide rail, clamping the packaged parcel. When the telescopic rod of the electric cylinder 13 retracts, the push frame 12 moves upward, and the second link 10 and the first link 9 drive the clamping plates 4 to move outward, realizing the release function of the item. It realizes the intelligent switching between the closed frame carrying mode and the adaptive clamping mode, which can simultaneously meet the needs of transporting scattered small items and grabbing large boxed parcels.

[0022] As a further embodiment of the present invention, the first rotation drive assembly includes: Two first gears 14 are symmetrically and fixedly connected to the rotating shaft of the base plate 8; U-shaped rack frame 15, which is slidably connected to the side wall of clamping plate 4, and the bottom end of U-shaped rack frame 15 meshes with the first gear 14; A pusher assembly is used to push the U-shaped rack and pinion 15 downward; Specifically, by pushing the component to move the U-shaped rack frame 15, when the U-shaped rack frame 15 moves, the rack on its inner side drives the first gear 14 to rotate, thereby driving the rotating shaft of the base plate 8 to rotate, so that the base plate 8 flips outward from the horizontal bearing state to make room for the movement of the clamping plate 4 or to reclose to form the bottom wall.

[0023] As a further embodiment of the present invention, the second rotation drive assembly includes: The second gear 16 is rotatably connected to the pivot of the flip door 7; A drive rack 17 is slidably connected to the top of the clamping plate 4. A first drive plate 18 is fixedly connected to the side of the drive rack 17. A first inclined groove 19 is provided on the side wall of the first drive plate 18. The drive rod 20 has one end fixedly connected to the U-shaped rack frame 15 at the corresponding position, and the other end is fixedly connected to the first sliding pin 21, which is slidably connected in the first inclined groove 19. Specifically, when the first rotary drive assembly is activated and drives the U-shaped rack frame 15 to move downward, the drive rod 20 fixed thereon moves downward accordingly. The first sliding pin 21 at the end of the drive rod 20 slides within the first inclined groove 19. Since the first inclined groove 19 is inclined, the downward movement of the first sliding pin 21 will push the first drive plate 18 and the drive rack 17 fixed thereto to move along the guide groove at the top of the clamping plate 4, so that the drive rack 17 drives the second gear 16 to rotate, thereby driving the flip door 7 to flip open outward.

[0024] As a further embodiment of the present invention, the driving component includes: The second drive plate 22 is fixedly connected to the side wall of the U-shaped rack frame 15, and the side wall of the second drive plate 22 is provided with a drive groove 23. The slider 24 is slidably connected to the bottom end of the L-shaped connecting rod 3. The end of the slider 24 is fixedly connected to the second sliding pin 25, which is slidably connected in the drive groove 23. The electromagnetic induction block 26 is fixedly connected to the outer wall of the clamping plate 4. Electromagnet 27 is fixedly connected to slider 24, and a second spring 28 is fixedly connected between U-shaped rack frame 15 and clamping plate 4. The drive slot 23 includes a first straight slot 2301 and a second inclined slot 2302; Specifically, in the initial state, the electromagnet 27 is de-energized, and the slider 24 is in the initial position under the action of the second spring 28. At this time, the second sliding pin 25 is located at the upper part of the first straight groove 2301 of the drive groove 23. When the clamping plate 4 moves towards the center under the action of the pushing mechanism to prepare to clamp the item, the sensing electromagnetic block 26 on the clamping plate 4 gradually approaches the clamped item. When the item is sensed, the sensing electromagnetic block 26 sends a signal to control the electromagnet 27 to be energized to generate magnetic force, which attracts the slider 24 to slide along the guide groove. The slider 24 drives the second sliding pin 25 to move. In the initial stage of movement, the second sliding pin 25 moves horizontally in the first straight groove 2301. At this stage, the U-shaped rack frame 15 is not moving. When the second sliding pin 25 moves to the connection between the first straight groove 2301 and the second inclined groove 2302 and enters the second inclined groove 2302, its continued inward sliding will force the second drive plate 22 to drive the U-shaped rack frame 15 to move downward along the guide groove, thereby triggering the aforementioned first rotary drive assembly and second rotary drive assembly, causing the bottom plate 8 and the flip door 7 to flip open. It should be noted that in the initial state, the electromagnet 27 is de-energized, and the slider 24 is located in the initial position under the action of the second spring 28. At this time, the second sliding pin 25 is located above the first straight groove 2301 of the drive groove 23. The first straight groove 2301 limits the vertical direction of the U-shaped rack frame 15, improves the stability of the U-shaped rack frame 15, and thus improves the stability of the base plate 8 after it is closed.

[0025] As a further embodiment of the present invention, a groove 5 is formed on the inner wall of the clamping plate 4, and an airbag 6 is fixedly connected in the groove 5. An anti-slip pad 601 is fixedly connected to the outer wall of the airbag 6. Correspondingly, a compression shell 29 is also fixedly connected to the outer wall of the clamping plate 4, and a piston 30 is slidably connected in a sealed manner inside the compression shell 29. The top end of the piston 30 is fixedly connected to the side wall of the U-shaped rack frame 15 through a fixing bracket 31. The compression shell 29 is connected to the internal air passage of the airbag 6 through an air passage. Specifically, when the U-shaped rack 15 is driven downward by the pushing component, the piston 30 moves downward within the compression shell 29 via the fixing frame 31. Air within the compression shell 29 is forced into the airbag 6, causing it to inflate. The inflated airbag 6 and its anti-slip pad 601 can closely conform to the irregular surface of the clamped item, increasing the contact area and friction, achieving flexible and adaptive clamping, while also providing cushioning and shock absorption. When the U-shaped rack 15 returns to its original position and moves upward, the piston 30 lifts, and the airbag 6 returns to its original shape under the elasticity of its own or the action of the auxiliary suction valve.

[0026] As a further embodiment of the present invention, two support feet 2 are symmetrically fixedly connected to both sides of the body 1.

[0027] The working principle of this invention is as follows: When transporting small, loose items, the four clamping plates 4, the two flip doors 7, and the bottom plate 8 can be connected to form a complete square frame when closed, which is beneficial for transporting multiple small, loose items and improving transportation efficiency. When it is necessary to transport the packaged parcel, the first and second rotary drive components drive the base plate 8 and the flip door 7 to flip. The base plate 8 flips to the side of the clamping plate 4, and the flip door 7 flips and folds, thus making way for the clamping plates 4 to move closer together to clamp the items. After the base plate 8 and the flip door 7 are flipped, the electric cylinder 13 is activated. The telescopic rod of the electric cylinder 13 pushes the push frame 12 downward. The push frame 12 drives the first link 9 through the second link 107. Since the bottom end of the first link 9 is hinged to the clamping plate 4 and the top end is slidably connected to the machine body 1 through the second link 10, this movement will be converted into the pushing force of the four clamping plates 4, so that the four L-shaped connecting rods 3 drive the clamping plates 4 to converge towards the center along the slide rail, clamping the packaged parcel. When the telescopic rod of the electric cylinder 13 retracts, the push frame 12 moves upward, and the second link 10 and the first link 9 drive the clamping plates 4 to move outward, realizing the release function of the item. It realizes the intelligent switching between the closed frame carrying mode and the adaptive clamping mode, which can simultaneously meet the needs of transporting scattered small items and grabbing large boxed parcels.

[0028] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A multi-rotor unmanned aerial vehicle, characterized in that, include: The body (1) has four L-shaped connecting rods (3) symmetrically slidably connected to its bottom end. The bottom ends of the four L-shaped connecting rods (3) are fixedly connected to a square frame, which includes: Four clamping plates (4) are fixedly connected to the bottom ends of four L-shaped connecting rods (3). The two ends of the clamping plates (4) are symmetrically connected to flip doors (7), and the bottom ends of the clamping plates (4) are rotatably connected to bottom plates (8). The flip doors (7) on two adjacent clamping plates (4) on the same side form a complete side wall when they are closed and joined together. When all four bottom plates (8) are in a horizontal state, they are joined together to form a complete load-bearing bottom wall. A first rotation drive assembly is used to drive the base plate (8) to rotate. The second rotary drive assembly is used to drive the flip door (7) to flip, so as to make way for the clamping plate (4) to move and clamp the items. A pushing mechanism is used to push four L-shaped connecting rods (3) to move so that four clamping plates (4) come closer together to clamp the item.

2. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The actuating component includes: The first link (9) is rotatably connected to the outer wall of the clamping plate (4) at its bottom end. The second link (10) is rotatably connected to the top end of the first link (9). The top end of the second link (10) is slidably connected to the bottom end of the body (1). A first spring (11) is fixedly connected between the second link (10) and the body (1). Push frame (12), the push frame (12) is slidably connected to the bottom end of the body (1), and the push frame (12) is fixedly connected to the second connecting rod; Two electric cylinders (13) are fixedly connected to the machine body (1), and the bottom end of the telescopic rod of the electric cylinder (13) is fixedly connected to the push frame (12).

3. A multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The first rotation drive component includes: Two first gears (14) are symmetrically fixedly connected to the rotating shaft of the base plate (8); U-shaped rack frame (15), the U-shaped rack frame (15) is slidably connected to the side wall of the clamping plate (4), and the bottom end of the U-shaped rack frame (15) meshes with the first gear (14); A push assembly for pushing the U-shaped rack and pinion (15) downward.

4. A multi-rotor unmanned aerial vehicle according to claim 3, characterized in that, The second rotation drive assembly includes: The second gear (16) is rotatably connected to the pivot of the flip door (7); A drive rack (17) is slidably connected to the top of the clamping plate (4). A first drive plate (18) is fixedly connected to the side of the drive rack (17). A first inclined groove (19) is provided on the side wall of the first drive plate (18). The drive rod (20) has one end fixedly connected to the U-shaped rack frame (15) at the corresponding position, and the other end is fixedly connected to the first sliding pin (21), which is slidably connected in the first inclined groove (19).

5. A multi-rotor unmanned aerial vehicle according to claim 3, characterized in that, The actuating component includes: The second drive plate (22) is fixedly connected to the side wall of the U-shaped rack frame (15), and the side wall of the second drive plate (22) is provided with a drive groove (23). The slider (24) is slidably connected to the bottom end of the L-shaped connecting rod (3), and the end of the slider (24) is fixedly connected to a second sliding pin (25), which is slidably connected in the drive groove (23); The sensing electromagnetic block (26) is fixedly connected to the outer wall of the clamping plate (4); An electromagnet (27) is fixedly connected to a slider (24), and a second spring (28) is fixedly connected between the U-shaped rack frame (15) and the clamping plate (4).

6. A multi-rotor unmanned aerial vehicle according to claim 5, characterized in that, The drive slot (23) includes a first straight slot (2301) and a second inclined slot (2302).

7. A multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The clamping plate (4) has a groove (5) on its inner wall, and an airbag (6) is fixedly connected in the groove (5). An anti-slip pad (601) is fixedly connected to the outer wall of the airbag (6).

8. A multi-rotor unmanned aerial vehicle according to claim 7, characterized in that, It also includes a compression shell (29), which is fixedly connected to the outer wall of the clamping plate (4). A piston (30) is slidably connected inside the compression shell (29). A fixing frame (31) is fixed to the top of the piston (30). The fixing frame (31) is fixedly connected to the side wall of the U-shaped rack frame (15). The airbag (6) is connected to the air passage of the compression shell (29).

9. A multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The body (1) has two support legs (2) symmetrically fixedly connected on both sides.

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