Novel cave surveying and mapping unmanned aerial vehicle

Abstract

The novel cave surveying and mapping unmanned aerial vehicle comprises a fuselage main body and further comprises more than two wing arms, a protection frame, propellers and first driving motors, the wing arms are arranged on the four sides of the fuselage main body and rotationally connected with the fuselage main body, cavities are formed in the wing arms, one ends of the cavities are provided with openings, and the first driving motors are arranged on the protection frames. One end of the connecting rod extends into the cavity along the opening, a sealing gasket is arranged at the opening, the other end of the connecting rod is fixed to the outer side of the protection frame, a spring is arranged between the protection frame and the wing arm and connected to the connecting rod in a sleeving mode, and one end of the connecting rod is arranged in the cavity in a sliding mode under the action of the spring; the propeller is fixedly connected with the output end of the first driving motor; according to the utility model, the impact force caused by collision can be relieved, a better buffering effect is achieved, and the wings are protected from being seriously damaged.

Description

Technical Field

[0001] The utility model relates to the field of unmanned aerial vehicles, and in particular to a novel cave mapping unmanned aerial vehicle. Background Art

[0002] Exploration in the fields of geological exploration, underground resource development, underground engineering construction, etc. requires the support of cave mapping technology. When conducting cave mapping, drones are needed to complete data acquisition and map drawing inside the cave, which plays an important role in environmental monitoring inside the cave. For example, in the patent document with Chinese patent application number 201920749305.0 and announcement date 2020.04.17, a drone anti-collision arm is disclosed, including at least three rotor arms fixed to the drone frame, the end of the rotor arm is provided with a propeller blade, and the end of the rotor arm is also provided with an elastic sheet. The length of the elastic sheet is such that it exceeds the motion range of the propeller blade in the horizontal direction, and the elastic sheet is connected to the rotor arm through a spring energy absorption mechanism.

[0003] The above-mentioned patent document sets a spring energy absorption mechanism on the outside of the rotor arm, and realizes the buffering effect by compressing the spring through an elastic sheet. In this way, when the rotor arm is subjected to external impact, the rotor arm is fixed and does not move relatively. Only the elastic sheet is subjected to force to drive the slider to move on the slideway and compress the spring. During a major impact, since the rotor arm is fixed and does not move, the elastic sheet is moved by the major impact and hits the rotor arm. Since the rotor arm cannot move, the rotor arm is easily damaged by the impact. Utility Model Content

[0004] The purpose of the utility model is to provide a novel cave mapping UAV, which can mitigate the impact force caused by a collision, achieve a better buffering effect, and protect the wings from serious damage.

[0005] The utility model provides the following technical solutions: a novel cave mapping UAV, comprising a fuselage main body, and also comprising more than two wing arms, a protective frame, a propeller and a first driving motor, wherein the wing arms are arranged on four sides of the fuselage main body and are rotatably connected to the fuselage main body, a cavity is arranged inside the wing arms, and the cavity is a hollow cavity with an opening at one end, one end of a connecting rod extends into the cavity along the opening and a sealing gasket is arranged at the opening, the other end of the connecting rod is fixed to the outside of the protective frame, a spring is arranged between the protective frame and the wing arm and is sleeved on the connecting rod, and under the action of the spring, one end of the connecting rod is slidably arranged in the cavity, the first driving motor is fixed to the middle of the protective frame, and the propeller is fixedly connected to the output end of the first driving motor.

[0006] The above arrangement, by setting the wing arm and the fuselage body as a rotational connection, when the UAV encounters a narrow passage, the wing arm can be rotated to adjust the angle between the wing arm and the fuselage body, so that the UAV can adjust the direction in the narrow passage; by setting a cavity inside the wing arm, and allowing the connecting rod to extend into the cavity through an opening and setting a sealing gasket at the opening, and in addition, the spring between the protective frame and the wing arm is sleeved on the connecting rod, so that when the UAV does not collide, the spring is in a natural state, and at this time the connecting rod can be tightly attached to the sealing gasket at the opening at the end of the cavity, so that the cavity forms a sealed independent space, and during the collision, the protective frame is subjected to external force to compress the spring, and this process enables the spring to absorb part of the collision energy and play a preliminary mitigation role. At the same time, the protective frame pushes the connecting rod to move in the sealed cavity, compressing the air in the cavity to form resistance, which further plays a buffering role on the connecting rod, thereby achieving a better buffering effect and protecting the wing from serious damage.

[0007] Furthermore, the fuselage body is provided with supporting legs, and there are more than two supporting legs, which are respectively arranged at the front end and the rear end of the fuselage body. The supporting legs at the front end and the rear end of the fuselage body are arranged in a triangle to form three supporting points.

[0008] The above configuration, by providing support legs on the main body of the fuselage, enables the drone to maintain stable contact with the ground during landing and provide support. When the drone lands on the ground, the three support points can better adapt to the unevenness of the ground, reduce the risk of roll and overturning, and thus improve stability and balance after landing.

[0009] Furthermore, more than two second drive motors are provided inside the fuselage body, the output end of the second drive motor is rotationally connected to the reducer, and the output end of the reducer is fixedly connected to one end of the wing arm.

[0010] The above arrangement enables the second drive motor to convert the high-speed, low-torque output into a low-speed, high-torque output through the reducer, thereby driving the entire wing arm to rotate, thereby adjusting the angle between the wing arm and the fuselage body.

[0011] Furthermore, the cavity is arranged in the wing arm at one end close to the protective frame, and the length of the cavity is greater than the natural extension length of the spring.

[0012] The above arrangement ensures that the connecting rod does not abut against the end of the cavity after the protective frame fully compresses the spring, thereby protecting the wing arm from being hit by the connecting rod.

[0013] Furthermore, the connecting rod includes a connecting rod body and an end portion located at one end of the connecting rod body, the end portion is located in the cavity, the width of the connecting rod body is smaller than the width of the opening, the width of the end portion is larger than the width of the connecting rod body, the width of the end portion is larger than the width of the opening, and the end portion slides in the cavity.

[0014] The above arrangement prevents the connecting rod from sliding out of the cavity.

[0015] Furthermore, one end of the spring close to the wing arm is fixedly connected to the elastic rod, and the other end of the elastic rod is arranged as a free end extending outwards.

[0016] With the above arrangement, during a collision, the elastic rod can first be subjected to force and deformed to absorb energy and play a local buffering role.

[0017] Furthermore, the protective frame includes an arc-shaped protective wall, a motor seat and more than two fixing rods, the fixing rods are arranged at intervals between the arc-shaped protective wall and the motor seat, the two ends of the fixing rods are respectively fixedly connected to the outer wall of the motor seat and the inner wall of the arc-shaped protective wall, and the first drive motor is installed on the motor seat.

[0018] The above arrangement facilitates the installation of the propeller on the first drive motor to realize driving, and at the same time enables the arc-shaped protective wall to protect the propeller and the first drive motor.

[0019] Furthermore, the arc-shaped protective wall is provided with a notch, the other end of the connecting rod is fixedly connected to the outer side of the motor seat near the notch, and an inner cavity is provided inside the arc-shaped protective wall to form a hollow structure.

[0020] The above arrangement makes it easy for the wing arm to pass through the notch to connect with the connecting rod. At the same time, by setting the interior of the arc-shaped protective wall as a hollow structure, the arc-shaped protective wall can be damaged during an impact to absorb the impact energy and protect the propeller and the first drive motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0022] Figure 2 It is a structural schematic diagram of the wing arm in the utility model.

[0023] Figure 3 It is a side view of the utility model.

[0024] Figure 4 It is a partial cross-sectional view of the wing arm in the utility model.

[0025] Figure 5 It is a cross-sectional view of the arc-shaped protective wall in the utility model.

[0026] Figure 6 for Figure 4 Enlarged view of point A in the middle. DETAILED DESCRIPTION

[0027] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0028] like Figure 1-6 As shown, the utility model provides a new type of cave mapping UAV, including a fuselage body 1, and also including more than two wing arms 24, a protective frame, a propeller 2 and a first drive motor 3. In the present embodiment, the wing arms 24, the protective frame, the propeller 2 and the first drive motor 3 are all set to four, the protective frame includes an arc-shaped protective wall 21, a motor seat 22 and more than two fixing rods 23, the arc-shaped protective wall 21 is provided with a notch 211, and the fuselage body 1 is provided with a support leg 11, and the support leg 11 is provided with more than two and is respectively arranged at the front end and the rear end of the fuselage body 1. In the present embodiment, the two support legs 11 at the front end of the fuselage body 1 and the one support leg 11 at the rear end form a triangular arrangement to form three support points, so that when the UAV lands on the ground, the three support points can better adapt to the unevenness of the ground, reduce the risk of roll and overturning, and thus improve the stability and balance after landing.

[0029] like Figure 1 and Figure 2 As shown, the wing arm 24 is arranged on four sides of the fuselage body 1, and four second drive motors (not marked in the figure) are arranged inside the fuselage body 1. The output end of the second drive motor is rotatably connected to the reducer (not marked in the figure), and the output end of the reducer is fixedly connected to one end of the wing arm 24, so that the wing arm 24 is rotatably connected to the fuselage body 1, so that the second drive motor can convert the high-speed and low-torque output into the low-speed and high-torque output through the reducer, thereby driving the entire wing arm 24 to rotate, so as to adjust the angle between the wing arm 24 and the fuselage body 1; a hollow cavity 4 is arranged at one end of the wing arm 24 near the protective frame, and an opening is arranged at one end of the cavity, and a connecting rod 5 One end of the wing arm 24 extends along the opening into the cavity 4 and a sealing gasket 6 is provided at the opening. In the present embodiment, during the manufacturing process of the wing arm 24, the wing arm 24 is divided into two components for assembly, each component is provided with a half portion of the cavity 4, and the two halves form a cavity. During assembly, the sealing gasket 6 is sleeved on the connecting rod 5, and then the connecting rod 5 and the sealing gasket 6 are placed in the cavity 4, so that the sealing gasket 6 is placed at the end portion at the opening of the cavity 4 and the connecting rod 5 is close to the sealing gasket 6. Finally, the two components are pre-fixed by bonding with a sheet adhesive and fixed by screws (not shown in the figure) to form an integral wing arm 24. The sheet adhesive is an existing adhesive and will not be described again here.

[0030] like Figure 3As shown, the connecting rod 5 includes a connecting rod body 51 and an end portion 52 located at one end of the connecting rod body 51, and the end portion 52 is located in the cavity 4. A connecting step 521 is provided at the connection between the connecting rod body 51 and the end portion 52, and a sealing ring is provided on the connecting step. The width of the connecting rod body 51 is less than the width of the opening, and the width of the end portion 52 is greater than the width of the connecting rod body 51. The width of the end portion 52 is greater than the width of the opening, and the end portion 52 slides in the cavity 4. The width of the cavity 4 at one end opposite to the opening is greater than the width of the opening, so as to prevent the connecting rod 5 from moving and sliding out of the cavity 4. The other end of the connecting rod 5 is fixedly connected to the outer side of the motor seat 22 near the notch 211. A spring 7 is provided between the protective frame and the wing arm 24 and is sleeved on the connecting rod 5. The end of the spring 7 near the wing arm 24 is fixedly connected to an elastic rod 8, and the other end of the elastic rod 8 is set to extend outward at the free end. During the collision, the elastic rod 8 can first be subjected to force to deform and absorb energy to play a local buffering role; in the present embodiment, the length of the cavity 4 is greater than the natural elongation of the spring 7, so that the spring 7 is in a natural state when the drone does not collide, and at this time the connecting rod 5 can be tightly attached to the sealing gasket 6 at the opening at the end of the cavity 4, so that the cavity 4 forms a sealed independent space, and during the collision, the protective frame is subjected to external force to compress the spring 7, and this process can enable the spring 7 to absorb part of the collision energy and play a preliminary mitigation role, while the protective frame pushes the connecting rod 5 to move in the sealed cavity 4, compressing the air in the cavity 4 to form resistance, further playing a buffering role for the connecting rod 5, and at the same time, after the protective frame completely compresses the spring 7, it ensures that the connecting rod 5 does not abut against the other end of the cavity 4, thereby achieving a better buffering effect and protecting the wing arm 24 from serious damage;

[0031] like Figure 2 As shown, the fixing rod 23 is arranged between the arc-shaped protective wall 21 and the motor seat 22, and the two ends of the fixing rod 23 are respectively fixedly connected to the outer wall of the motor seat 22 and the inner wall of the arc-shaped protective wall 21. The first drive motor 3 is installed on the motor seat 22, and the interior of the arc-shaped protective wall 21 is provided with an inner cavity 212 to form a hollow structure, so that during the impact, the arc-shaped protective wall 21 can be damaged to absorb the impact energy and protect the propeller 2 and the first drive motor 3.

[0032] The working principle of the utility model is as follows: when the UAV does not collide, the spring 7 is in a natural state, at which time the connecting rod 5 can be tightly attached to the sealing gasket 6 at the opening at the end of the cavity 4, so that the cavity 4 forms a sealed independent space, and the second driving motor drives the wing arm 24 to rotate through the reducer to adjust the angle between the wing arm 24 and the UAV fuselage body 1 to achieve flight. During the collision, the protective frame is subjected to external force to compress the spring 7, and this process enables the spring 7 to absorb part of the collision energy and play a preliminary mitigation role. At the same time, the protective frame pushes the connecting rod 5 to move in the sealed cavity 4, compressing the air in the cavity 4 to form resistance, which further plays a buffering role on the connecting rod 5, thereby achieving a better buffering effect and protecting the wing arm 24 from serious damage.

Claims

1. A new type of cave mapping UAV, including a fuselage body, characterized by: It also includes more than two wing arms, a protective frame, a propeller and a first drive motor. The wing arms are arranged on the four sides of the fuselage body and are rotatably connected to the fuselage body. A cavity is provided inside the wing arm, and the cavity is a hollow cavity with an opening at one end. One end of the connecting rod extends into the cavity along the opening and a sealing gasket is provided at the opening. The other end of the connecting rod is fixed to the outside of the protective frame. A spring is provided between the protective frame and the wing arm and is sleeved on the connecting rod. Under the action of the spring, one end of the connecting rod is slidably set in the cavity. The first drive motor is fixed to the middle of the protective frame, and the propeller is fixedly connected to the output end of the first drive motor.

2. A novel cave mapping UAV according to claim 1, characterized in that: The fuselage body is provided with supporting legs, and more than two supporting legs are provided and are respectively arranged at the front end and the rear end of the fuselage body. The supporting legs at the front end and the rear end of the fuselage body are arranged in a triangle to form three supporting points.

3. A novel cave mapping UAV according to claim 2, characterized in that: More than two second drive motors are arranged inside the fuselage body, the output end of the second drive motor is rotationally connected to the reducer, and the output end of the reducer is fixedly connected to one end of the wing arm.

4. The novel cave mapping UAV according to claim 1 is characterized by: The cavity is arranged in the wing arm at one end close to the protection frame, and the length of the cavity is greater than the natural extension length of the spring.

5. The novel cave mapping UAV according to claim 1 is characterized by: The connecting rod includes a connecting rod body and an end portion located at one end of the connecting rod body, the end portion is located in the cavity, the width of the connecting rod body is smaller than the width of the opening, the width of the end portion is larger than the width of the connecting rod body, the width of the end portion is larger than the width of the opening, and the end portion slides in the cavity.

6. The novel cave mapping UAV according to claim 1 is characterized by: One end of the spring close to the wing arm is fixedly connected to the elastic rod, and the other end of the elastic rod is arranged as a free end extending outwards.

7. The novel cave mapping UAV according to claim 1 is characterized by: The protective frame includes an arc-shaped protective wall, a motor seat and more than two fixing rods. The fixing rods are arranged at intervals between the arc-shaped protective wall and the motor seat. The two ends of the fixing rods are respectively fixedly connected to the outer wall of the motor seat and the inner wall of the arc-shaped protective wall. The first drive motor is installed on the motor seat.

8. The novel cave mapping UAV according to claim 7 is characterized by: The arc-shaped protective wall is provided with a notch, the other end of the connecting rod is fixedly connected to the outer side of the motor seat near the notch, and an inner cavity is provided inside the arc-shaped protective wall to form a hollow structure.

Images