Bearing rack for unmanned aerial vehicle

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, and provides a bearing rack for an unmanned aerial vehicle, which comprises a mounting seat, an unmanned aerial vehicle main body is arranged on the mounting seat, and the unmanned aerial vehicle main body is provided with a binocular camera; supporting plates are arranged on the left and right sides of the mounting seat; the two wheel shafts are arranged, each supporting plate is rotationally provided with one wheel shaft, and the two wheel shafts are symmetrically arranged; the number of the wheel sets is two, one wheel set is arranged at the end of each wheel shaft, each wheel set comprises an inner wheel and an outer wheel which are arranged in parallel and at intervals, and each wheel set further comprises a plurality of supporting columns arranged between the corresponding inner wheel and the corresponding outer wheel; the first supporting leg is arranged on the side, close to the binocular camera, of the installation base and comprises a rolling wheel, and the rolling wheel protrudes out of the outer circle face of the wheel set. By means of the technical scheme, the problems that in the prior art, cost is high, and stable ground movement detection cannot be achieved are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field especially relates to a bearing frame for unmanned plane. BACKGROUND

[0002] With the acceleration of industrialization process, the environmental pollution problems produced by chemical industry parks and other industrial sites are increasingly serious, which constitutes a significant threat to human health and ecological safety. In order to effectively monitor the atmospheric conditions in these complex environments, reduce the risk and cost of manual inspection, and improve the accuracy and efficiency of monitoring, a high-performance environmental monitoring unmanned plane is needed, which can meet the special scenes of chemical industry parks and caves, and has superior indoor and outdoor stable hovering flight capability and anti-impact capability.

[0003] Research institutions and enterprises have developed many high-performance unmanned plane systems, which not only have basic environmental data collection functions, but also integrate advanced image processing software, artificial intelligence algorithms and big data analysis technology, and can process and analyze complex environmental data in real time. In the prior art, the invention patent with application number 202410884122.5 discloses a wheeled amphibious unmanned plane, which improves the mobile maneuverability through the two sides of the actively driven wheels, but increases the active driving part, which is high in cost and complex in structure, cannot realize stable ground movement, and is not convenient for close-range detection of the ground. UTILITY MODEL CONTENT

[0004] The technical problem to be solved by the utility model is to provide a bearing frame for unmanned plane, which solves the problems of high cost and unstable ground movement detection of the prior art.

[0005] The utility model adopts the technical scheme: provide a bearing frame for unmanned plane, including mounting seat, the mounting seat is provided with unmanned plane main body, the unmanned plane main body has binocular camera, characterized by, the left and right sides of mounting seat all have support plate, still include:

[0006] Wheel shaft, have two, each support plate all rotatably provided with a wheel shaft, two wheel shafts are symmetrically arranged;

[0007] Wheel group, have two, each wheel shaft's end all is provided with a wheel group, the wheel group includes parallel and interval setting's inner wheel and outer wheel, the wheel group still includes several support columns, the support column sets up between the inner wheel and the outer wheel;

[0008] First support leg, set up on the mounting seat near binocular camera's one side, the first support leg includes the gyro wheel, the gyro wheel protrudes from the outer circular surface of the wheel group.

[0009] Further optimize the technical scheme, still include:

[0010] Second leg, obliquely arranged on the mounting seat, the second leg is symmetrically arranged with the first leg.

[0011] Further optimize the technical scheme, the bearing seat is arranged on the support plate, the wheel shaft is rotatably arranged on the bearing seat through the band edge bearing;Still include:

[0012] First limiting pipe, set in the wheel shaft, one end is in abutment with the end of the band edge bearing, the other end extends to the outside of the wheel shaft;

[0013] Positioning bolt, threadedly connected with the end of the wheel shaft, the positioning bolt is in abutment with the end of the first limiting pipe extending to the outside of the wheel shaft.

[0014] Further optimize the technical scheme, still include:

[0015] Second limiting pipe, set in the wheel shaft, and located between the band edge bearing and the inner wheel, one end of the second limiting pipe is in abutment with the end face of the band edge bearing;

[0016] Flange, set in the wheel shaft, the other end of the second limiting pipe is in abutment with one end of the flange, and the flange is used for connecting with the wheel group.

[0017] Further optimize the technical scheme, the inner wheel and the outer wheel are the same structure, both have a plurality of spokes, and have a center disc at the shaft center position, the center disc has a plurality of connecting holes;Still include:

[0018] End cover, at least two buckles are arranged in the circumferential direction, the end cover is coaxially arranged with the center disc, the end cover is arranged on the end of the outer wheel away from the inner wheel, the buckle is buckled on the side of the inner wheel away from the outer wheel after penetrating the interval between the spokes, the end cover further has at least two positioning plates in the circumferential direction, the end of the positioning plate is in abutment with the side of the inner wheel close to the outer wheel, for spacing the inner wheel and the outer wheel, the end cover has a plurality of positioning grooves in the inside, the positioning grooves correspond to the connecting holes one by one;

[0019] Connecting bolt, inserted into the positioning groove, the threaded portion of the connecting bolt penetrates the connecting hole and the flange.

[0020] Further optimize the technical scheme, when the mounting seat is parallel to a plane and the wheel group is in abutment with the plane, the roller has a spacing between the plane.

[0021] The beneficial effects of the utility model lie in:

[0022] 1. The wheel set is composed of the inner wheel and the outer wheel arranged at intervals, the overall width of the wheel set can be increased, the single width of the inner wheel and the outer wheel is relatively narrow, the moving obstacle influence of small volume sundries can be reduced, the stability during ground driving is higher, meanwhile, the wheel set is passively rotated, power components are not needed, cost is saved, the structure is simple, the failure rate can be reduced, the wing of the unmanned aerial vehicle can provide power to realize movement, the wheel set is used as a landing support to improve stability.

[0023] 2. The first supporting leg is still reserved, the first supporting leg is located outside the wheel set, the state that the rolling wheel and the wheel set touch the ground at the same time is existed, the unmanned aerial vehicle can move along the ground more stably at this time, and the unmanned aerial vehicle is suitable for close-range detection on a plane or a gentle curved surface. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a structural schematic view of the utility model;

[0025] Figure 2 It is a front side view structural schematic view of the utility model;

[0026] Figure 3 It is a left view structural schematic view of the utility model (the rolling wheel protrudes from the wheel set);

[0027] Figure 4 It is an upper view structural schematic view of the utility model;

[0028] Figure 5 It is a wheel set and wheel shaft sectional structural schematic view of the utility model;

[0029] Figure 6 It is a Figure 5 Local enlarged structural schematic view of a in the utility model;

[0030] Figure 7 It is a Figure 5 Local enlarged structural schematic view of b in the utility model;

[0031] Figure 8 It is a wheel set mounting structural schematic view of the utility model;

[0032] Figure 9 It is a Figure 8 Local enlarged structural schematic view of c in the utility model;

[0033] Figure 10 It is an end cover dismounting structural schematic view of the utility model;

[0034] Figure 11 It is an end cover structural schematic view of the utility model;

[0035] Marked description: 1, mounting seat; 101, support plate; 1011, bearing seat; 1012, band edge bearing; 2, unmanned aerial vehicle main body; 201, binocular camera; 3, wheel shaft; 301, first limiting pipe; 302, positioning bolt; 303, second limiting pipe; 304, flange; 4, wheel group; 401, inner wheel; 402, outer wheel; 403, support column; 404, spoke; 405, center disc; 4051, connecting hole; 5, first support leg; 501, roller; 6, second support leg; 7, end cover; 701, buckle; 702, positioning plate; 703, positioning groove; 704, connecting bolt. DETAILED DESCRIPTION

[0036] The utility model will be explained in further detail below in combination with the drawings and specific embodiments.

[0037] In order to make the drawing simple, only the part related to the utility model is shown in each drawing, which does not represent the actual structure of the product. In addition, in order to make the drawing simple and easy to understand, in some drawings, only one of the components with the same structure or function is shown, or only one of them is marked. In this paper, "one" not only means "only one", but also means "more than one", and "several" includes "two" and "more than two".

[0038] In this paper, it is necessary to point out that, unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection, it can be mechanical connection, or electrical connection, it can be directly connected, or indirectly connected through intermediate medium, it can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific situation.

[0039] In addition, in the description of the present application, the terms "first", "second" and the like are only used for differentiation and description, and cannot be understood as indicating or implying relative importance.

[0040] As Figures 1-11As shown, a bearing frame for a UAV, comprising a mounting seat 1, the mounting seat 1 is provided with a UAV body 2, the UAV body 2 has a binocular camera 201; the mounting seat 1 has a support plate 101 on the left and right sides; further comprising: an axle 3, having two, each support plate 101 is rotatably provided with an axle 3, the two axles 3 are symmetrically arranged; a wheel set 4, having two, each end of the axle 3 is provided with a wheel set 4, the wheel set 4 comprises an inner wheel 401 and an outer wheel 402 which are parallel and spaced apart, the wheel set 4 further comprises a plurality of support columns 403, the support columns 403 are arranged between the inner wheel 401 and the outer wheel 402; a first supporting leg 5 is arranged on the mounting seat 1 near the binocular camera 201, the first supporting leg 5 comprises a roller 501, the roller 501 protrudes from the outer circular surface of the wheel set 4. When the mounting seat 1 is parallel to a plane and the wheel set 4 abuts against the plane, the roller 501 has a gap between the plane.

[0041] In use, taking the binocular camera 201 located on the front side of the UAV as an example, when landing, the wheel set 4 rolls in contact with the ground, and the UAV flight power can realize movement, and the angle of the binocular camera 201 can be changed. The first supporting leg 5 is inclined downward and arranged on the front side of the UAV, and extends forward to the outside of the wheel set 4. As seen from the left side, the roller 501 protrudes from the outer circular surface of the wheel set 4. At this time, the inclination angle of the UAV is adjusted so that the wheel set 4 and the roller 501 of the first supporting leg 5 touch the ground at the same time. At this time, the binocular camera 201 is inclined downward, and through the contact of the wheel set 4 and the roller 501 on the front and rear sides of the point position, the UAV can move smoothly along the ground at a certain inclination angle when flying. At the same time, when the overall center of gravity of the UAV is inclined to the front side, the UAV can be parked in a forward inclined state and then stably parked on the ground.

[0042] The inner wheel 401 and the outer wheel 402 are parallel and spaced apart, the inner wheel 401 is located near the inner side of the UAV, and the outer wheel 402 is located away from the outer side of the UAV, and the two are spaced apart by the support column 403 or fixedly connected, the support column 403 can be inserted between the inner wheel 401 and the outer wheel 402 to support the spacing of the two; the support column 403 can also be a tubular structure, which can be fixedly connected to the inner wheel 401 and the outer wheel 402 by a bolt.

[0043] The axle 3 can be a tubular structure.

[0044] The UAV main body 2 can be equipped with a 2D laser radar and a camera system to realize obstacle detection and environment perception. An STM32F427 microcontroller based on an ARM Cortex M4 core is selected as the main control chip, and an STM32F103 is selected as an auxiliary processor to ensure that the system has sufficient computing power and response speed. The UAV can also be equipped with a series of high-precision sensors, including a laser radar, a gas detection sensor, a barometer, etc., so that it can comprehensively collect atmospheric environmental data from multiple dimensions. An industrial-grade nRF24L01 radio frequency communication scheme is used to realize effective remote control of the UAV, and a high-level PID algorithm is used to ensure flight stability.

[0045] Further, the second supporting leg 6 is obliquely arranged on the mounting base 1, and the second supporting leg 6 is symmetrically arranged with the first supporting leg 5.

[0046] In use, the second supporting leg 6 can be symmetrically arranged with the first supporting leg 5 in front and back, and the roller 501 of the second supporting leg 6 can also protrude from the outer circular surface of the wheel set 4, so that the UAV can be tilted backward, and the binocular camera 201 is tilted upward. When the overall center of gravity of the UAV is inclined to the front side, the UAV can be parked in a tilted backward state and stably parked on the ground.

[0047] Further, the supporting plate 101 has a bearing seat 1011, and the wheel shaft 3 is rotationally arranged on the bearing seat 1011 through a flanged bearing 1012; further comprising: a first limiting pipe 301 sleeved on the wheel shaft 3, one end of the first limiting pipe 301 abuts against the end of the flanged bearing 1012, and the other end of the first limiting pipe 301 extends to the outside of the wheel shaft 3; a positioning bolt 302 threadedly connected with the end of the wheel shaft 3, and the positioning bolt 302 abuts against the end of the first limiting pipe 301 extending to the outside of the wheel shaft 3.

[0048] In use, the first limiting pipe 301 can limit the axial position of the wheel shaft 3 on the side away from the wheel set 4. The bearing seat 1011 can be provided with one or two bearing seats arranged at intervals, and the horizontal limiting ability of the wheel shaft 3 is stronger, and the first limiting pipe 301 can be limited on one side of the bearing seat 1011 through a bolt, which is convenient and stable to install.

[0049] Further, the second limiting pipe 303 is sleeved on the wheel shaft 3 and located between the flanged bearing 1012 and the inner wheel 401, one end of the second limiting pipe 303 abuts against the end face of the flanged bearing 1012; a flange 304 is sleeved on the wheel shaft 3, the other end of the second limiting pipe 303 abuts against one end of the flange 304, and the flange 304 is used to connect with the wheel set 4.

[0050] In use, the second limiting tube 303 can limit the wheel shaft 3 on the side close to the wheel set 4 in cooperation with the first limiting tube 301, and the inner wheel 401 of the wheel set 4 is connected through the flange 304, which is simple in structure and convenient to install. The flange 304 can be fixed on the wheel shaft 3 through the top screw member, and is connected with the wheel set 4 through the connecting member such as a bolt, which is convenient and stable to install.

[0051] Further, the inner wheel 401 and the outer wheel 402 are the same in structure, both have a plurality of spokes 404, and have a center disc 405 at the shaft center position, and the center disc 405 has a plurality of connecting holes 4051; further comprising: an end cover 7 having at least two buckles 701 in the circumferential direction, the end cover 7 is coaxially arranged with the center disc 405, the end cover 7 is covered on the end of the outer wheel 402 away from the inner wheel 401, the buckle 701 is buckled on the side of the inner wheel 401 away from the outer wheel 402 after passing through the interval between the spokes 404, the end cover 7 also has at least two positioning plates 702 in the circumferential direction, the end of the positioning plate 702 abuts against the side of the inner wheel 401 close to the outer wheel 402, for spacing the inner wheel 401 and the outer wheel 402, the end cover 7 has a plurality of positioning grooves 703 inside, the positioning grooves 703 correspond one-to-one with the connecting holes 4051; a connecting bolt 704 is inserted into the positioning groove 703, and the threaded part of the connecting bolt 704 passes through the connecting hole 4051 and the flange 304.

[0052] In use, the setting of the end cover 7 improves the installation convenience, and the wheel set 4 can be more conveniently and independently composed, and then the wheel set 4 is connected with the flange 304. The inner wheel 401 and the outer wheel 402 both have a plurality of spokes 404, the spokes 404 can be distributed at equal angles, and the spokes 404 are arranged outside the center disc. The two buckles 701 arranged in the circumferential direction at one end of the end cover 7 can be arranged at equal angles, which facilitates to improve the buckling stability.

[0053] When assembling, several connecting bolts 704 are inserted and fixed inside the end cover 7, and then the end cover 7 is first placed on the center disc 405 of the outer wheel 402, the center disc 405 of the outer wheel 402 passes through the end of the buckle 701 and the end of the positioning plate 702, when the center disc 405 of the outer wheel 402 is forced to pass, the buckle 701 and the positioning plate 702 can both expand outward to avoid, at this time the threaded part of the connecting bolt 704 passes through the connecting hole 4051 of the outer wheel 402, and then the connecting hole 4051 of the inner wheel 401 is opposite to the threaded part of the connecting bolt 704, the center disc 405 of the inner wheel 401 passes through the end of the buckle 701 and abuts against the end of the positioning plate 702, the end of the buckle 701 is buckled on the center disc 405 of the inner wheel 401, and the inner wheel 401 and the outer wheel 402 are spaced and positioned by the end cover 7, at this time the inner wheel 401 and the outer wheel 402 are in parallel and spaced state, but they still have a deformation activity space, at this time the support column 403 can be installed between the inner wheel 401 and the outer wheel 402 for supporting and fixing. After the wheel set 4 is independently assembled, it can be connected with the flange 304 through the connecting bolt 704 and the nut structure, after the connecting bolt 704 passes through the hole position of the flange 304, it can be locked by the nut. The positioning groove 703 is matched with the head shape of the connecting bolt 704, which can limit the rotation of the connecting bolt 704.

[0054] It can be understood that the utility model is described through some embodiments, and those skilled in the art know that various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the utility model. In addition, under the guidance of the utility model, these features and embodiments can be modified to adapt to specific conditions and materials without departing from the spirit and scope of the utility model. Therefore, the utility model is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application belong to the scope protected by the utility model.

Claims

1. A bearing frame for a drone, comprising a mounting seat (1), wherein a drone main body (2) is arranged on the mounting seat (1), and the drone main body (2) is provided with a binocular camera (201); characterized in that, Both sides of the mounting base (1) are provided with a support plate (101); further comprising: An axle (3) is provided with two, one of which is rotatably arranged on each support plate (101), and the two axles (3) are symmetrically arranged; A wheel set (4) is provided with two, one of which is arranged at the end of each axle (3), the wheel set (4) comprises an inner wheel (401) and an outer wheel (402) arranged in parallel and at intervals, and the wheel set (4) further comprises a plurality of support columns (403) arranged between the inner wheel (401) and the outer wheel (402); A first supporting leg (5) is arranged on the mounting base (1) near the side of the binocular camera (201), the first supporting leg (5) comprises a roller (501), and the roller (501) protrudes from the outer circular surface of the wheel set (4).

2. The bearing frame for a UAV according to claim 1, wherein, Further comprising: A second supporting leg (6) is arranged on the mounting base (1) in an inclined manner, and the second supporting leg (6) is symmetrically arranged with the first supporting leg (5).

3. The bearing frame for a UAV of claim 1, wherein, The support plate (101) is provided with a bearing seat (1011), and the axle (3) is rotatably arranged on the bearing seat (1011) through a band bearing (1012); further comprising: A first limiting tube (301) is sleeved on the axle (3), one end of which abuts against the end of the band bearing (1012), and the other end extends to the outside of the axle (3); A positioning bolt (302) is threadedly connected with the end of the axle (3), and the positioning bolt (302) abuts against the end of the first limiting tube (301) extending to the outside of the axle (3).

4. The bearing frame for a UAV according to claim 3, wherein, Further comprising: A second limiting tube (303) is sleeved on the axle (3) and located between the band bearing (1012) and the inner wheel (401), one end of the second limiting tube (303) abutting against the end face of the band bearing (1012); A flange (304) is sleeved on the axle (3), and the other end of the second limiting tube (303) abuts against one end of the flange (304), and the flange (304) is used for connecting with the wheel set (4).

5. The bearing frame for a UAV according to claim 4, wherein, The inner wheel (401) and the outer wheel (402) are the same structure, each having a plurality of spokes (404) and a center disc (405) at the axial position, and the center disc (405) is provided with a plurality of connecting holes (4051); further comprising: The end cover (7) has at least two buckles (701) in the circumferential direction, the end cover (7) is coaxially arranged with the center disc (405), the end cover (7) is arranged on the end of the outer wheel (402) away from the inner wheel (401), the buckle (701) is buckled on the side of the inner wheel (401) away from the outer wheel (402) after passing through the interval between the spokes (404), the end cover (7) also has at least two positioning plates (702) in the circumferential direction, the end of the positioning plate (702) is abutted on the side of the inner wheel (401) close to the outer wheel (402), for spacing the inner wheel (401) and the outer wheel (402), the end cover (7) has a plurality of positioning grooves (703) inside, the positioning grooves (703) correspond one-to-one with the connecting holes (4051); The connecting bolt (704) is inserted into the positioning groove (703), the threaded part of the connecting bolt (704) passes through the connecting hole (4051) and the flange (304).

6. The bearing frame for a UAV of claim 1, wherein, When the mounting seat (1) is parallel to a plane and the wheel set (4) abuts against the plane, the roller (501) has a gap with the plane.

Images