Barrel drop machine arm collapsible multi-rotor drone

Abstract

A barrel-style delivery machine arm foldable multi-rotor unmanned aerial vehicle includes a plurality of deployable arms, each deployable arm configured with a rotor, and a deployment mechanism configured to move the plurality of deployable arms between a stowed position and a flight position. The plurality of deployable arms provide a first portion of a barrel-shaped outer shell of the unmanned aerial vehicle when in the stowed position, and the plurality of deployable arms allow the rotors of each deployable arm to rotate to provide a force for flight of the unmanned aerial vehicle when in the flight position.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), and more specifically to a multi-rotor UAV with a barrel-type delivery arm that can be folded down. Background Technology

[0002] The use of drones is becoming increasingly widespread, leading to diverse demands for them.

[0003] In some fields, a large number of drones are needed. These drones need to be stored centrally before use, so they need to be easy to store and compact. At the same time, it is also desirable that these drones be easy to open.

[0004] Existing drones of this type typically have multiple rotors and cantilever arms. These cantilever arms can be retracted and deployed using springs. However, this deployment method can lead to low reliability and occasional deployment failures. Furthermore, this deployment method is uncontrollable, and synchronizing the multiple cantilever arms is difficult to guarantee. Additionally, existing drones may have irregular shapes when the rotors are retracted, making it inconvenient to store multiple drones or even a large number of drones together, as they occupy a significant amount of space. There are also issues with the increased cost associated with pursuing smaller sizes in some existing drones. Summary of the Invention

[0005] According to one aspect of the present invention, a foldable multi-rotor drone with a barrel-type delivery arm is provided, comprising:

[0006] Multiple deployable arms, each equipped with a rotor; and

[0007] A deployment mechanism is configured to move the plurality of deployable arms between a retracted position and a flight position.

[0008] The plurality of deployable arms, when in the retracted position, provide the first portion of the barrel-shaped outer shell of the drone, and the plurality of deployable arms, when in the flight position, allow the rotor of each deployable arm to rotate to provide force for the flight of the drone.

[0009] In one embodiment, the drone also includes a plurality of mounting points that provide a second portion of the drone's barrel-shaped outer shell.

[0010] Each of the plurality of deployable arms has a portion near its first end pivotally connected to a fulcrum provided by a corresponding connecting seat, such that each deployable arm pivots about the corresponding fulcrum.

[0011] In one embodiment, the deployment mechanism includes a plurality of drive links, each drive link being pivotally connected to a portion of the inner wall of a corresponding arm away from a first end, so as to provide force as each drive link moves such that each arm moves between the retracted position and the flight position.

[0012] In one embodiment, each of the plurality of connectors is configured with a connecting arm, the end of which provides the fulcrum so that each deployable arm pivots about the end of the corresponding connecting arm.

[0013] In one embodiment, the deployment mechanism includes a push rod configured to telescop and retract to drive a plurality of transmission links to move.

[0014] In one embodiment, the deployment mechanism includes a push plate disposed between the push rod and the plurality of transmission links, and the outer edge of the push plate abuts against the inner wall of the plurality of connecting seats to restrict the movement path of the push plate by the inner wall of the plurality of connecting seats.

[0015] In one embodiment, the inner wall of each of the plurality of connectors includes an upper limit and a lower limit, configured to restrict the push plate from sliding between the upper limit and the lower limit; and,

[0016] Preferably, the inner wall of each of the plurality of connecting seats further includes one of a boss and a guide groove, so that one of the boss or guide groove engages with the other of the corresponding guide groove and boss on the push plate.

[0017] In one embodiment, the drone further includes a power supply and drive assembly, the power supply and drive assembly comprising:

[0018] A push rod driver, configured to drive the movement of the push rod.

[0019] A push rod holder, wherein the push rod driver is fixedly mounted on the upper surface of the push rod holder, and

[0020] At least one arc-shaped battery is symmetrically arranged around the push rod actuator.

[0021] In one embodiment, portions of a plurality of connectors at the end away from the fulcrum provide portions of a second part of the barrel-shaped housing of the drone away from the fulcrum, and the plurality of connectors are respectively connected to the push rod holder, which provides other portions of the barrel-shaped housing of the drone away from the fulcrum, the other portions being adjacent to the first part of the housing.

[0022] In one embodiment, the drone further includes a control and buffering component, the control and buffering component comprising:

[0023] The computing board mounting base is configured to be detachably connected to the push rod fixing base;

[0024] A computing board, installed within the computing board mounting base, is used for the ground control and communication of the UAV; and

[0025] A buffer pad is disposed at the bottom of the computing board mounting base. Preferably, multiple top blocks are disposed between the bottom of the computing board mounting base and the buffer pad so that the buffer pad is supported by the multiple top blocks at the bottom of the computing board mounting base. Attached Figure Description

[0026] The accompanying drawings, which are incorporated herein and form a part of this specification, illustrate the invention and, together with the description, further serve to explain the principles of the invention and enable those skilled in the art to make and use the embodiments described herein.

[0027] Figure 1 The upper part shows a schematic diagram of the four arms of a drone according to an embodiment of the present disclosure. Figure 1 The lower part shows a schematic diagram of the energy and drive components and the control and buffer components;

[0028] Figure 2 An exploded schematic diagram of the power and deployment transmission components of a drone according to an embodiment of the present disclosure is shown.

[0029] Figure 3 An exploded schematic diagram of the power and drive components of a drone according to an embodiment of the present disclosure is shown.

[0030] Figure 4 An exploded schematic diagram of the control and buffer components of a drone according to an embodiment of the present disclosure is shown;

[0031] Figure 5 A schematic diagram of the power and deployment transmission components of a drone according to an embodiment of the present disclosure is shown;

[0032] Figure 6 A schematic diagram showing the structure between the energy and drive components and the control and buffer components of a drone according to an embodiment of the present disclosure;

[0033] Figure 7 A schematic perspective view of a drone according to an embodiment of the present disclosure is shown, wherein in figure a, the four arms are extended, and in figure b, the arms are retracted;

[0034] Figure 8 A schematic front view of a drone according to an embodiment of the present disclosure is shown, wherein the arms are extended in the right view and retracted in the left view.

[0035] The features of the invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, wherein similar reference numerals consistently identify corresponding elements. In the drawings, similar reference numerals generally denote identical, functionally similar, and / or structurally similar elements. Unless otherwise stated, the drawings provided throughout this application should not be construed as being drawn to scale. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0037] However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of embodiments of the invention for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the invention.

[0038] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "comprising" as used herein indicates the presence of features, steps, or operations, but does not exclude the presence or addition of one or more other features.

[0039] The terms "first" and similar expressions used herein are for descriptive purposes only, such as distinguishing different values ​​or components, and should not be construed as indicating or implying relative importance or implicitly specifying the order of the indicated technical features. The inclusion of "first" or similar terms in a feature may explicitly or implicitly include at least one feature. In the description of this application, the term "multiple" means at least two, such as two, three, or more, unless otherwise explicitly specified.

[0040] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0041] Existing drone technologies often use elastic elements such as torsion springs and tension springs as the sole power source for arm deployment. The deployment speed is entirely determined by the preload of these elastic elements, making it impossible to adjust according to actual deployment conditions (such as canister speed and airflow disturbances). This results in an uncontrollable deployment process, prone to excessive impact or incomplete deployment. Furthermore, in existing technologies, the deployment of multiple arms relies on their own independent elastic elements. Due to manufacturing tolerances, fatigue levels, and the influence of ambient temperature on elasticity, it is difficult to maintain consistent deployment speeds and arrival times for each arm, posing a risk of asynchronous deployment and affecting the drone's attitude stability after canister release. Additionally, existing technologies often require additional locking mechanisms such as locking pins, electromagnets, and pull ropes to achieve locking after arm deployment. This leads to a large number of parts, complex structures, and high assembly difficulty. For quadcopter drones, the complexity of the four arms increases exponentially, hindering low-cost, high-reliability mass production. In addition, existing technologies lack the ability to actively provide feedback and control over the arm deployment process. They cannot monitor the arm position or adjust the deployment action according to the instructions of the flight control system during deployment, making it difficult to meet the high reliability requirements of complex working conditions such as air delivery.

[0042] This disclosure provides a novel unmanned aerial vehicle (UAV) with a simple structure, controllable deployment, good synchronization, and active locking capability.

[0043] One aspect of the present invention provides a novel barrel-type delivery arm foldable multi-rotor drone.

[0044] For ease of explanation, this disclosure uses a quadcopter as an example to describe the solution of the present invention. It should be understood that the UAV of the present invention can also have two rotors, three rotors, five rotors, six rotors, etc.

[0045] Figure 1 The upper portion illustrates an embodiment of the drone disclosed herein, wherein Figure 1 The upper part shows the four arms of the drone deployed. For ease of description, this disclosure divides the drone into three parts: the power and deployment transmission assembly 1, the energy and drive assembly 2, and the control and buffer assembly 3. Figure 1 The lower part shows the power and deployment transmission assembly 1, the energy and drive assembly 2, and the control and buffer assembly 3. It should be understood that the UAV of the present invention is divided into... Figure 1 The three sections shown are for illustrative purposes only and do not represent any limitation or restriction.

[0046] Figure 2 and Figure 5 An exploded view of the power and deployment transmission assembly 1 of a drone according to one embodiment is shown. The power and deployment transmission assembly 1 includes a plurality of deployable arms 17, each deployable arm 17 being configured with a rotor 14, as shown in the figure. Figure 1Each rotor 14 is equipped with a motor 15. The power and deployment transmission assembly 1 includes a deployment mechanism configured to deploy the plurality of deployable arms 17 from a retracted position to a flight position. Figure 7 and Figure 8 The flight positions of the deployable arms 17 are shown separately. When retracted, the multiple deployable arms 17 provide the first portion of the barrel-shaped outer shell of the drone, and when in the flight position, the multiple deployable arms 17 allow the rotors 14 of each deployable arm 17 to rotate to provide force for the drone's flight. It should be noted here that "outer shell" refers to the external barrel-shaped structure of the drone after the arms 17 are retracted. It should also be noted that, referring to the attached diagram... Figure 1 and appendix Figure 7-8 It is understood that at least the upper part of the "shell" is provided by a plurality of arms 17 and a connecting seat 12. When the plurality of arms 17 are retracted, they together with the connecting seat 12 define the "shell", and the interior of the "shell" defines an empty space in which the rotor 14 is housed. Thus, the drone of the present invention presents the shape of a barrel drone, is suitable for deployment, and the arms and rotors are foldable, which has the advantages of being small and compact, regular in shape and easy to store.

[0047] The drone's power and deployment transmission assembly 1 also includes a plurality of connectors 12, which provide a second portion of the drone's barrel-shaped outer shell. The distal portion of each of the plurality of deployable arms 17 is pivotally connected to a fulcrum provided by a corresponding connector 12, so that each deployable arm 17 pivots about the corresponding fulcrum. As shown, the distal portions of the arms 17 are pivotally connected to a fulcrum provided immediately adjacent to the connector 12. In one embodiment, to provide the fulcrum, each connector 12 is configured with a connecting arm 124 extending from the connector 12, the distal end of which provides the fulcrum, so that each deployable arm 17 pivots about the end of a corresponding connecting arm 124. (Refer to...) Figure 5 The connecting arm 124 has an "L" shape and extends from the inner wall of the connecting seat 12. The upper end of the arm 17 is hinged to the far end of the connecting arm 124, so that the arm 17 can rotate relative to the connecting seat 12 between the retracted position and the flight position.

[0048] Figure 2One configuration is shown. The connecting arm 124 is fixedly disposed at the end of the connecting seat 12, and the other end of the connecting arm 124 extends to the vicinity of the end of the arm 17 in the retracted position, providing a pivot point. Note that the connecting seat 12 is fixed, therefore the connecting arm 124 is also fixed, and the pivot point provided by the connecting arm 124 is fixed. A hinge member is provided at the end of the arm 17, forming a hinged connection with the pivot point at the extended end of the connecting arm 124, thereby allowing the arm 17 to rotate about this hinged connection provided by the connecting arm 124. In other embodiments, the connecting arm 124 may be configured differently, or other components may be provided instead of the connecting arm 124, as long as the component provides a pivot point, forming a hinged connection with the end of the arm 17, allowing the arm 17 to rotate about this hinged connection.

[0049] According to embodiments of this disclosure, the deployment mechanism includes a plurality of transmission links 11 (see reference 11). Figure 2 Each drive link 11 is pivotally connected to a hinge point on the inner wall of the corresponding arm 17 at its exit end, so that when the drive link 11 performs a push or pull action, the drive link 11 pivots about the hinge point on the inner wall of the arm 17 to provide force for each arm 17 to move between the retracted position and the flight position. The deployment mechanism may also include a push rod 13 configured to telescopically move to drive the plurality of drive links 11. The deployment mechanism may also include a push plate 16 disposed between the push rod 13 and the plurality of drive links 11, with the outer edge of the push plate 16 abutting against the inner wall of the connecting seat 12 to restrict the movement path of the push plate 16 by the inner wall of the connecting seat 12.

[0050] In one embodiment, the connector 12 is further provided with an upper limit position 121 and a lower limit position 123, such as Figure 5As shown, the push plate 16 is configured to limit its sliding between the upper limit 121 and the lower limit 123. When the push plate 16 slides to the upper limit 121, the transmission link 11 pushes the arm 17 outward to the flight position. The upper limit 121 limits the push plate 16 from sliding further, so the transmission link 11 will not continue to push the arm 17, and the flight position of the arm 17 is thus fixed. That is, the arm 17 opens to the same flight position each time. Since the multiple upper limit 121s on the inner walls of the multiple connecting seats 12 are preset, each arm 17 is pushed to the same preset flight position, that is, the angle between the arm 17 and the vertical axis of the drone's fuselage is consistent, for example, 90 degrees, but it could also be other angles. This configuration is advantageous, as it ensures that the four arms of the drone are deployed in a balanced manner and also ensures flight balance. When the push plate 16 slides to the lower limit 123, the transmission link 11 retracts the arm 17 to the retracted position. The lower limit 123 restricts the push plate 16 from sliding further, so the transmission link 11 will not continue to pull the arm 17 back. Therefore, the retracted position of the arm 17 is fixed, meaning that the retracted position of the arm 17 is consistent each time. Since the multiple lower limit 123s on the inner walls of the multiple connecting seats 12 are preset, each arm 17 is pulled back to the preset retracted position consistently, that is, the arm 17 retracts to form the first part of the drone's shell. This configuration is advantageous, ensuring that the drone has a barrel-shaped shape when its four arms are in the retracted position. Due to the upper limit 121 and lower limit 123, the extension angle and retracted position of the arm 17 can be precisely controlled, preventing excessive rotation or incomplete extension of the arm 17.

[0051] In one embodiment, the inner wall of each of the plurality of connecting seats 12 further includes a boss 122, so that the boss 122 engages with a corresponding guide groove 161 on the push plate 16. In the illustrated embodiment, each of the four connecting seats 12 includes a boss 122, and the outer edge of the push plate 16 includes four guide grooves 161; in another embodiment, each of the four connecting seats 12 includes a guide groove 161, thus having four guide grooves 161, and the outer edge of the push plate 16 includes four bosses 122. The engagement structure of the bosses 122 and the corresponding guide grooves 161 is advantageous, as it facilitates the stable sliding of the push plate 16 along the guide grooves 161 or the bosses 122 of the connecting seats 12 in the vertical direction (i.e., the axial direction of the UAV) (e.g., reciprocating up and down as shown in the figure), providing guidance and limiting for the movement of the push plate 16 without causing offset or rotation, ensuring the synchronous movement of the multiple transmission links 11, and improving the stability of the deployment mechanism.

[0052] In the embodiments of this disclosure, the end of the push rod 13 may be provided with a push rod end connection hole 131. The lower surface of the push plate 16 is provided with double lugs 162. The push rod 13 is locked and fixed to the double lugs 162 on the lower surface of the push plate 16 through the push rod end connection hole 131. Thus, the push rod 13 and the push plate 16 can be fixedly connected. In another embodiment, the end of the push rod 13 may be directly welded to the lower surface of the push plate 16. The push rod 13 may be fixed to the lower surface of the push plate 16 in other ways.

[0053] In one embodiment, such as Figure 5 As shown, one end of the transmission link 11 is hinged to the arm 17, and the other end of the transmission link 11 is hinged to the push plate 16. Thus, the vertical translation of the push plate 16 is converted into the rotational motion of the arm 17 about the hinge point (the aforementioned fulcrum) through the transmission link 11.

[0054] In such Figure 1 In the illustrated embodiment, motor 15 is fixedly mounted on the distal end of arm 17 according to the assembly sequence. Rotor 14 is mounted on the output shaft of motor 15. Motor 15 drives rotor 14 to rotate, providing lift for the drone.

[0055] This invention employs push rods 13 as the active drive for multiple robotic arms 17. Through the sliding guide engagement between push plate 16 and connecting seat 12, and the center-locking mechanism of the transmission linkage, synchronous, controllable, and self-locking deployment of multiple, for example, four robotic arms is achieved. The active and precise control of the robotic arm deployment speed and stroke of this invention avoids the problems of asynchrony or excessive impact caused by manufacturing tolerances, fatigue, and environmental temperature effects of other drive structures, such as spring elements, significantly improving the synchronization and controllability of the deployment process.

[0056] According to the present invention, in another embodiment, unlike the configuration described above, the lower end of the arm 17 is pivotally connected to a fulcrum provided from the connecting seat 12. Thus, contrary to the embodiments described above, when the push rod 13 is pushed downwards, the arm 17 is extended; when the push rod 13 is pulled upwards, the arm 17 is retracted. Other components in this embodiment are the same as in the aforementioned embodiments, only the actions performed differ.

[0057] The following section describes another part of the drone – the energy and propulsion components 2.

[0058] The power supply and drive assembly may include: a push rod driver 25 configured to drive the movement of the push rod 13, which, when the push rod 13 performs a linear telescopic movement under the drive of the push rod driver 25, can drive the push plate 16 to perform a translational movement in the vertical direction; and a push rod mounting base 24, on which the push rod driver 25 is fixedly mounted. A connecting seat 12 is fixedly mounted on the electric push rod mounting base 24.

[0059] like Figure 1-2As shown in Figures 7-8, multiple connectors 12 constitute the second part of the barrel-shaped outer shell of the drone. Specifically, the end of the connector 12 near the fulcrum (the upper end in the figure) forms the upper part of the second part of the barrel-shaped outer shell, and the portion of the connector 12 near the fulcrum away from the fulcrum provides the lower part of the second part of the barrel-shaped outer shell of the drone. The multiple connectors 12 are respectively connected to push rod fixing seats 24 (see reference). Figure 5-6 The push rod mounting base 24 provides the remaining portion of the barrel-shaped outer shell of the drone at the end away from the fulcrum, and this remaining portion continues the first portion of the outer shell. In other words, the first portion of the drone's outer shell is provided by a plurality of arms 17 (located at the upper end) and the push rod mounting base 24 (located at the lower end). Thus, when the push rod 13 pulls the arms 17, causing the arms 17 carrying the rotors 14 to rotate about the fulcrum provided by the connecting base 12 to the retracted position, the plurality of (four shown) arms 17, together with the connecting base 12 and the push rod mounting base 24, provide the barrel-shaped outer shell of the drone, and the rotors 14 are housed within the internal space of the barrel-shaped outer shell; when the push rod 13 pushes the arms 17, causing the arms 17 to rotate about the fulcrum provided by the connecting base 12, four arms 17 leave the barrel-shaped outer shell, and the rotors 14 leave the internal space of the barrel-shaped outer shell.

[0060] The power supply and drive assembly 2 may also include at least one arc-shaped battery 22, 26, arranged symmetrically around the push rod driver.

[0061] In one example, the energy and drive assembly 2 may include a battery holder 21, a first arc-shaped battery 22, a battery isolation cover 23, an electrically powered push rod holder 24, a push rod driver 25, and a second arc-shaped battery 26, such as... Figure 3 As shown. However, it should be understood that not all of these components are necessary; they are merely examples. The electric actuator mounting base 24 is a ring or component with four mounting holes on its surface. The actuator driver 25 is mounted above the electric actuator mounting base 24, with its lower surface contacting the upper surface of the electric actuator mounting base 24, and is fixedly connected to the electric actuator mounting base 24 with bolts through the four mounting holes. Thus, the actuator driver 25 is securely mounted above the electric actuator mounting base 24. The actuator driver 25 is the power unit of the actuator 13, and can integrate a motor or a reduction gear mechanism to drive the actuator 13 to perform linear extension and retraction in the vertical direction.

[0062] The battery isolation cover 23 is an insulating thin-shell component, which is fixedly connected to the electric actuator mounting base 24 by bolts through holes. The battery isolation cover 23 is located above the electric actuator mounting base 24 and covers the bottom of the actuator driver 25, serving the functions of physical isolation and electrical insulation.

[0063] A limiting groove is formed on the upper surface of the battery isolation cover 23 for accommodating the first arc-shaped battery 22 and the second arc-shaped battery 26. Both the first arc-shaped battery 22 and the second arc-shaped battery 26 are arc-shaped batteries, such as lithium batteries, lead-acid batteries, or other types of batteries. The first arc-shaped battery 22 and the second arc-shaped battery 26 are symmetrically arranged around the push rod driver 25, that is, they are arranged opposite each other in the circumferential direction, forming an approximately circular battery pack. This symmetrical layout is beneficial for the balance of the overall machine's center of gravity.

[0064] The lower surfaces of the first arc-shaped battery 22 and the second arc-shaped battery 26 are embedded and placed in the limiting groove on the upper surface of the battery isolation cover 23, and the limiting groove provides positioning and limiting.

[0065] The battery holder 21 is a ring-shaped component that covers and presses against the upper surfaces of the first arc-shaped battery 22 and the second arc-shaped battery 26. The battery holder 21 is fixedly connected to the electric push rod holder 24 by bolts, thereby clamping and fixing the first arc-shaped battery 22 and the second arc-shaped battery 26 between the battery holder 21 and the battery isolation cover 23.

[0066] The first and second arc-shaped batteries 22 and 26 can be arranged in other forms inside the drone. The above is only one implementation to illustrate the present invention.

[0067] The annular batteries of this invention are symmetrically arranged around the push rod driver 25, forming an approximately circular battery pack. A limiting groove is provided on the upper surface of the battery isolation cover for placing the battery, and a battery holder presses and fixes it from above, clamping the battery between the battery holder and the battery isolation cover. This layout makes full use of the annular space inside the fuselage, minimizing the radial dimension of the entire aircraft in the folded state, and adapting to standard caliber delivery containers; at the same time, the symmetrical layout helps to balance the center of gravity of the entire aircraft, improving flight stability.

[0068] The following describes the control and buffer components 3 of the UAV disclosed herein.

[0069] like Figure 4 As shown, the control and buffer assembly 3 may include a computing board mounting base 32 and a computing board 31. The computing board mounting base 32 is configured to be detachably connected to the push rod fixing base 24. The computing board 31 is mounted in the computing board mounting base and is used for the control and communication of the UAV. The control and buffer assembly 3 may also include an elastic buffer pad 33 disposed at the bottom of the computing board mounting base 32.

[0070] In one embodiment, the computing board mounting base 32 can be a box-shaped component with a female buckle 322 at its bottom, such as... Figure 6As shown. A male buckle 241 is correspondingly provided on the electric push rod fixing seat 24. The computing board mounting seat 32 is locked to the male buckle 241 on the electric push rod fixing seat 24 via a female buckle 322, thereby achieving a detachable and fixed connection between the computing board mounting seat 32 and the push rod fixing seat 24. Specifically, the male buckle 241 and the female buckle 322 form a snap-fit ​​structure. When the computing board mounting seat 32 is pushed upwards, the female buckle 322 undergoes elastic deformation and passes over the male buckle 241, then returns to its original shape and locks with the male buckle 241. The side wall or edge of the push rod fixing seat 24 also serves as a limiting structure, abutting against the side of the computing board mounting seat 32 to prevent the male buckle 241 and the female buckle 322 from sliding and disengaging in the horizontal direction. According to an embodiment of this disclosure, the computing board mounting seat 32 can be made of 3D-printed nylon material. Nylon material possesses excellent elasticity and toughness, allowing the female buckle 322 to undergo sufficient elastic deformation during the fastening process for smooth engagement, while also providing reliable locking force after engagement. 3D printing technology enables the computing board mounting base 32 to achieve integrated molding of complex structures, reducing the number of parts and assembly steps. The computing board mounting base 32 can also be manufactured using other commonly used processes and materials.

[0071] The detachable and fixed connection between the computing board mounting base 32 and the push rod fixing base 24 of the present invention enables tool-free quick assembly and disassembly, which facilitates the maintenance and replacement of the computing board.

[0072] The inner side of the computing board mounting base 32 is used to house the computing board 31. The computing board 31 is the flight control computer of the UAV, which integrates flight control algorithms, navigation modules, and communication modules. The computing board 31 is fixed to the inner side of the computing board mounting base 32 by adhesive bonding, or it can be fixed to the computing board mounting base 32 by screws or other fasteners to ensure that it will not loosen during flight and landing.

[0073] The lower surface of the computing board mounting base 32 may be provided with top blocks 321. There are four top blocks 321, which are evenly distributed in four directions at the bottom of the computing board mounting base 32.

[0074] The elastic buffer pad 33 is preferably made of silicone or rubber and is cylindrical. The elastic buffer pad 33 and the top block 321 are assembled with an interference fit: the elastic buffer pad 33 has mounting holes, the diameter of which is slightly smaller than the outer diameter of the top block 321. The elasticity of the elastic buffer pad 33 presses it against the top block 321, and the friction generated by the interference fit achieves initial fixation. In addition to the interference fit, adhesive is used for reinforcement. Adhesive is applied between the contact surfaces of the top block 321 and the elastic buffer pad 33 to further increase the connection strength and prevent the elastic buffer pad 33 from detaching after repeated landing impacts.

[0075] The computing board mounting base 32 of this invention has four top blocks 321 evenly arranged on its lower surface. Elastic buffer pads 33 (made of silicone or rubber) have mounting holes with a diameter slightly smaller than the outer diameter of the top blocks. The buffer pads 33 elastically press against the top blocks to form an interference fit, achieving initial fixation and positioning. Simultaneously, adhesive is applied between the contact surfaces for reinforcement, preventing the buffer pads 33 from detaching after repeated landing impacts. This dual-fixing method balances ease of assembly and long-term reliability, providing effective landing buffer protection for precision electronic components such as the computing board 31.

[0076] In the folded state, all four arms 17 are in the retracted position, meaning the arms 17 are close to the sides of the machine body, giving the entire machine a compact cylindrical shape that allows it to be easily inserted into the delivery bin. At this time, the push rod driver 25 is not powered on, and the push rod 13 is in the fully retracted position. The push plate 16, driven by the push rod 13, is located at the uppermost point in the vertical direction (near the side of the electric push rod fixing seat 24). The transmission linkage 11 pulls the arms 17 taut and holds them in the folded position, and the boss 122 on the connecting seat 12 is located at the end of the guide groove 161 of the push plate 16 near the center. The first arc-shaped battery 22 and the second arc-shaped battery 26 provide standby power for the entire machine, and the computing board 31 is in a low-power standby state.

[0077] Once the aerial platform reaches the designated delivery area, the delivery command is triggered, and the drone separates from the delivery mechanism, beginning its free fall or ejection from the delivery container. After the drone leaves the container, the computing board 31 immediately detects a change in acceleration or receives a wireless trigger signal from the delivery platform, and then initiates the deployment procedure. The computing board 31 simultaneously sends extension commands to the four push rod actuators 25.

[0078] After the UAV detaches from the aerial platform or launch tank, the computing board 31 immediately sends an extension command to the push rod driver 25, driving the push rod 13 to extend vertically and causing the push plate 16 to move upward. The push plate 16 pushes the four arms 17 to rotate outward synchronously around the fulcrum of the connecting seat 12 through the transmission link 11. When the push rod 13 extends to the predetermined stroke, the arms 17 abut against the upper limit position 121 on the connecting seat 12, accurately reaching the horizontal flight position. Then the computing board 31 starts the motor 15 to drive the rotor 14 to rotate, and the UAV enters the autonomous flight state.

[0079] After the mission is completed, the drone descends vertically. Upon landing, the elastic buffer pads 33 on the four top blocks 321 mounted on the lower surface of the computing board 31 mounting base 32 first contact the ground. Made of silicone or rubber, the elastic buffer pads 33 possess excellent elasticity and shock absorption properties, absorbing most of the landing impact energy through their own compression deformation. The remaining impact force is significantly attenuated by the time it is transmitted from the computing board mounting base 32 to the computing board 31, effectively protecting the computing board 31. Because the elastic buffer pads 33 and the top blocks 321 are interference-fitted and reinforced with adhesive, the buffer pads 33 will not detach or shift even under multiple strong landing impacts.

[0080] When the mission is completed and the drone needs to be retrieved, the operator can send a retrieval command to the computing board 31 via the ground remote controller.

[0081] The computing board 31 first commands the motor 15 to stop rotating. After the rotor 14 has completely stopped rotating, it sends a retraction command to the push rod driver 25. The push rod driver 25 drives the push rod 13 to retract.

[0082] The downward movement of push rod 13 causes push plate 16 to move downwards, and the transmission link 11 pulls arm 17 to rotate inwards around the hinge point (fulcrum), causing arm 17 to gradually retract from the horizontal flight position towards the side of the fuselage. When push rod 13 is fully retracted, push plate 16 returns to its initial position, arm 17 is pulled back to the retracted position, and the whole aircraft returns to its compact cylindrical shape, facilitating storage and transportation.

[0083] Due to the above configuration, the drone of the present invention has a number of advantages.

[0084] For example, the unfolding process is actively controllable and highly adaptable. This invention uses an electric push rod 13 as the active drive source for the unfolding of the arm 17. The extension speed, stroke, and timing of the push rod 13 can be precisely controlled by the computing board 31. Compared to the passive unfolding method in existing technologies that relies on elastic elements such as torsion springs and tension springs, the unfolding speed of this invention is no longer affected by the manufacturing tolerances, fatigue levels, and ambient temperature of the elastic elements. It can be adjusted according to different delivery conditions (such as bucket exit speed, airflow disturbance, etc.), avoiding problems such as excessive unfolding impact or incomplete unfolding, significantly improving the controllability and environmental adaptability of the unfolding process.

[0085] For example, all four arms deploy synchronously, resulting in a stable posture. This invention uses a single computing board 31 to synchronously control four push rod drivers 25, causing the four push rods 13 to extend simultaneously at the same speed and stroke. After transmission through the push plate 16 and the transmission link 11, the four arms 17 achieve highly synchronized deployment. Compared to the shortcomings of existing technologies where multiple independent elastic elements make it difficult to guarantee synchronization, this invention effectively solves the problem of posture tilting caused by asynchronous deployment of the arms 17, ensuring that the UAV can quickly establish a stable flight attitude after exiting the launch tube.

[0086] For example, the modular layout maximizes space utilization. This invention modularizes the power and deployment transmission components, energy and drive components, and control and buffer components, symmetrically arranging them around the push rod driver 25. The first arc-shaped battery 22 and the second arc-shaped battery 26 are symmetrically placed around the push rod driver 25, fully utilizing the annular space inside the unit. The computing board mounting base 32 is directly fixed to the electric push rod fixing base 24 via a snap-fit ​​structure, and the elastic buffer pad 33 is integrated into the bottom. In its folded state, the entire unit has a compact cylindrical shape with small radial dimensions, adapting to standard-caliber delivery bins and facilitating aerial mounting and cluster deployment.

[0087] For example, the buffer pad 33 is doubly fixed, providing excellent impact resistance. In this invention, the elastic buffer pad 33 and the top block 321 of the computing board 31 mounting base are double-fixed using an interference fit and adhesive reinforcement. The interference fit utilizes the deformation of the elastic material itself to provide initial fixation and positioning, while the adhesive reinforcement further enhances the connection strength, effectively preventing the buffer pad 33 from falling off after multiple landing impacts. This fixing method balances ease of assembly and long-term reliability, providing reliable landing buffer protection for precision electronic components such as the computing board.

[0088] For example, the snap-on mounting base facilitates maintenance. In this invention, the computing board mounting base 32 is made of 3D-printed nylon material. The female buckle on it and the male buckle on the electric push rod fixing base 24 form a detachable snap-on structure. Operators can disassemble and assemble the computing board mounting base by hand without tools, greatly simplifying the maintenance and replacement of the computing board 31. The elasticity of the nylon material ensures that the snap-on retains good locking performance even after multiple disassemblies and reassemblies. Simultaneously, the 3D printing process allows for the integrated molding of complex structures, reducing the number of parts and assembly steps.

[0089] For example, it supports electric retrieval and is reusable. This invention not only supports active deployment after the cannon is deployed, but also electric folding and retrieval after the mission is completed. By controlling the retraction of the push rod 13 via the computing board 31, the arm 17 can be pulled back from the horizontally deployed position to the folded state, facilitating the reuse, storage, and transportation of the drone. Furthermore, the manual folding method also provides convenience for rapid storage in the field.

[0090] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. It should be noted that implementations not illustrated or described in the drawings or the main text of the specification are forms known to those skilled in the art and are not described in detail. Furthermore, the definitions of the components described above are not limited to the various specific structures, shapes, or methods mentioned in the embodiments, and those skilled in the art can easily modify or substitute them.

[0091] Those skilled in the art will understand that the features described in the various embodiments and / or claims of the present invention can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments and / or claims of the present invention can be combined and / or combined in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or combinations fall within the scope of the present invention.

[0092] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A barrel-type delivery arm foldable multi-rotor UAV, comprising: Multiple deployable arms (17), each deployable arm is equipped with a rotor (14); and A deployment mechanism is configured to move the plurality of deployable arms between a retracted position and a flight position. The plurality of deployable arms, when in the retracted position, provide the first portion of the barrel-shaped outer shell of the drone, and the plurality of deployable arms, when in the flight position, allow the rotor of each deployable arm to rotate to provide force for the flight of the drone.

2. The drone according to claim 1, further comprising a plurality of connectors (12) providing a second portion of the barrel-shaped outer shell of the drone, Each of the plurality of deployable arms is pivotally connected near its first end to a fulcrum provided by a corresponding connecting seat, so that each deployable arm can pivot about the corresponding fulcrum.

3. The UAV of claim 2, wherein the deployment mechanism comprises a plurality of drive links (11), each drive link being pivotally connected to a portion of the inner wall of a corresponding deployable arm away from the first end, so as to provide a force, as each drive link moves, to move each deployable arm between the retracted position and the flight position.

4. The UAV according to claim 2, wherein each of the plurality of connectors (12) is configured with a connector arm (124), the end of the connector arm providing the fulcrum so that each deployable arm pivots about the end of the corresponding connector arm.

5. The UAV of claim 3, wherein the deployment mechanism includes a push rod (13) configured to telescop and retract to drive a plurality of transmission links to move.

6. The UAV according to claim 5, wherein the deployment mechanism includes a push plate (16) disposed between the push rod and the plurality of transmission links, and the outer edge of the push plate abuts against the inner wall of the plurality of connecting seats to restrict the movement path of the push plate by the inner wall of the plurality of connecting seats.

7. The UAV according to claim 6, wherein the inner wall of each of the plurality of connecting seats (12) includes an upper limit position (121) and a lower limit position (123), configured to restrict the push plate from sliding between the upper limit position and the lower limit position; and, Preferably, the inner wall of each of the plurality of connecting seats (12) further includes one of a boss (122) and a guide groove (161) so that one of the boss or guide groove engages with the other of the corresponding guide groove (161) and boss (122) on the push plate.

8. The UAV according to claim 5, further comprising a power supply and drive assembly (2), the power supply and drive assembly comprising: A push rod driver (25) is configured to drive the movement of the push rod. A push rod holder (24) is provided, and the push rod driver is fixedly mounted on the upper surface of the push rod holder. At least one arc-shaped battery (22, 26) is symmetrically arranged around the push rod actuator.

9. The drone of claim 8, wherein a portion of the plurality of connectors at one end away from the fulcrum provides a portion of a second part of the barrel-shaped housing of the drone away from the fulcrum, and the plurality of connectors are respectively connected to the push rod holder, the push rod holder providing other portions of the barrel-shaped housing of the drone at one end away from the fulcrum, the other portions continuing from the first part of the housing.

10. The UAV according to claim 9, further comprising a control and buffer component (3), the control and buffer component comprising: The computing board mounting base (32) is configured to be detachably connected to the push rod fixing base; A computing board (31) is installed in the computing board mounting base and is used for the control and communication of the UAV. as well as A buffer pad (33) is provided at the bottom of the computing board mounting base. Preferably, multiple top blocks are provided between the bottom of the computing board mounting base and the buffer pad so that the buffer pad can be supported at the bottom of the computing board mounting base by the multiple top blocks.

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