Angle switching device and unmanned aerial vehicle

Abstract

The utility model belongs to the field of unmanned aerial vehicles, and particularly relates to an angle switching device and an unmanned aerial vehicle. The angle switching device comprises a base, an element mounting plate and an angle adjusting mechanism; one end of the element mounting plate is hinged to the base, and the other end is provided with a support arm; the angle adjusting mechanism comprises a limiting plate, a rotating supporting arm and an elastic element, a limiting face I is arranged on one side of the limiting plate, a sliding groove is formed in the side wall of the limiting plate, a limiting face II, a rotating part and a sliding part are arranged on the rotating supporting arm, the rotating part is hinged to the end of the supporting arm, and the sliding part is in sliding fit with the sliding groove. And the other end is connected to a hinge shaft of the rotating part and the support arm. According to the angle switching device provided by the utility model, quick switching of double angles can be realized, the tensile strength of the elastic element at a large angle is greater than that of the elastic element at a small angle, basic holding force is provided at the small angle, and reinforced holding force is provided at the large angle.

Description

Technical Field

[0001] This utility model belongs to the field of drones, specifically relating to an angle switching device and a drone. Background Technology

[0002] In recent years, with the technological advancements in LiDAR, devices have become more miniaturized and lightweight, and an increasing number of drones are now equipped with LiDAR. As a drone payload, LiDAR is unaffected by visibility and lighting conditions, and can provide 3D models with higher accuracy than conventional oblique photogrammetry. When used as an automatic flight navigation sensor, LiDAR can effectively improve accuracy, efficiently and precisely perceiving nearby objects and obstacles.

[0003] Currently, LiDAR (Light Detection and Ranging) systems are widely used in various automotive applications and autonomous driving. Most existing LiDAR systems use rotating scanning, with different laser heads scanning the surrounding area at varying angles as the device rotates, creating a pancake-like scanning area of ​​varying thickness. The top and bottom of the device are typically blind spots. In automotive applications, the presence of the ground eliminates the need to consider altitude changes; a specific installation angle allows the radar to be positioned within the desired area. However, when used on drones, LiDAR offers greater altitude freedom, especially in enclosed areas. Fixed installations in these drones are more prone to creating blind spots. As a payload, current technology typically uses a three-axis gimbal in conjunction with the LiDAR to capture images from varying angles in some blind spots. However, when using LiDAR as a navigation sensor for SLAM (Simultaneous Localization and Mapping) autonomous navigation, the three-axis gimbal solution is problematic in two ways: firstly, its bulky structure hinders deployment on small drones and reduces the aircraft's flight time; secondly, during scanning, parts of the gimbal structure can obstruct the view, creating new blind spots. With a fixed flight path, typically only the installation angle of the drone's radar needs to be changed to scan blind spots in enclosed spaces, in conjunction with the drone's own heading control. Therefore, a compact, lightweight device capable of rapidly and accurately changing the radar's installation angle has significant practical application value in the drone field, especially for various small drones. Of course, devices capable of rapidly and accurately changing the installation angles of other components also meet the same application requirements. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide an angle switching device and a drone that can quickly switch angles and whose angles are fixed and stable after switching.

[0005] This utility model provides an angle switching device, including a base, a component mounting plate, and an angle adjustment mechanism;

[0006] One end of the component mounting plate is hinged to the base, and the other end has a support arm protruding towards one side of the base.

[0007] The angle adjustment mechanism includes a limiting plate, a rotating arm, and an elastic element. The limiting plate has a limiting surface I on the side near the element mounting plate and a sliding groove on the side wall of the limiting plate. The rotating arm is provided with a limiting surface II, a rotating part, and a sliding part in sequence. The rotating part is hinged to the end of the arm, and the sliding part is slidably engaged with the sliding groove. One end of the elastic element is connected to the base, and the other end is connected to the hinge shaft between the rotating part and the arm.

[0008] When the sliding part is in the limiting position I of the sliding groove, the elastic element pulls the element mounting plate to fit tightly against the limiting surface I. When the sliding part is in the limiting position II of the sliding groove, the elastic element pulls the element mounting plate to fit tightly against the limiting surface II.

[0009] Furthermore, the sliding groove includes two interconnected but non-collinear strip grooves, namely, strip groove I and strip groove II, with limiting position I located at one end of strip groove I away from strip groove II, and limiting position II located at one end of strip groove II away from strip groove I.

[0010] Furthermore, groove I and groove II intersect at the intersection point;

[0011] Strip groove I is arranged at an angle towards the base from the intersection point to the limit position I, and strip groove II is arranged at an angle towards the base from the intersection point to the limit position II.

[0012] Furthermore, the distance from the hinge point of the support arm and the rotating part to the component mounting plate is equal to the distance from the rotating part to the limiting surface II.

[0013] Furthermore, when the sliding part is in the limiting position II of the sliding groove, the rotating part is located above the limiting position II. The elastic element pulls the rotating part to rotate around the sliding part in the direction of the elastic element's pulling force, forming a rotational tendency. The rotational tendency causes the limiting surface II to fit with the component mounting plate, forming a self-locking mechanism.

[0014] Furthermore, there are two sets of limit plates arranged symmetrically on the left and right, and two sets of support arms and rotating support arms arranged symmetrically, with the support arms and rotating support arms positioned between the two limit plates.

[0015] Furthermore, the two sets of support arms and rotating parts are rotatably connected via a movable shaft.

[0016] Furthermore, two sets of elastic elements are provided between the two sets of support arms;

[0017] A fixed pivot is provided on the base;

[0018] The elastic element is a tension spring, with connecting rings at both ends. One end of the tension spring is rotatably connected to the movable shaft through the connecting ring, and the other end is rotatably connected to the fixed shaft through the connecting ring.

[0019] Furthermore, the movable shaft is provided with shaft limiting gaskets I on both sides of the connecting ring, and the fixed shaft is provided with shaft limiting gaskets II on both sides of the connecting ring.

[0020] This utility model also provides a drone, including the aforementioned angle switching device.

[0021] The beneficial effects of this invention are as follows: The angle switching device provided by this invention can achieve rapid switching between two angles. Specifically, by switching the limiting position of the sliding part within the sliding groove, combined with the energy storage characteristics of the elastic element, the component mounting plate can be instantly switched between a preset first angle and a second angle. Furthermore, the tensile strength of the elastic element is greater at larger angles than at smaller angles, providing differentiated preload force. It provides basic holding force at smaller angles and enhanced holding force at larger angles, exhibiting strong adaptability. In addition, compared to traditional solutions such as electric push rods, encoder motors, and servo motors for angle switching, this invention employs a simpler and lighter mechanical structure, requires no additional power supply, has high reliability, and is more suitable for deployment and use on small UAVs. Compared to traditional disassembly and assembly structures using bolts and pins, this invention requires no tools and has no parts detached from the whole, enabling faster switching. Furthermore, the tension of the elastic element can compensate for machining errors or usage gaps in the parts, ensuring the stability of the preset angle of the component mounting plate. Attached Figure Description

[0022] Appendix Figure 1 This is a schematic diagram of the angle switching device in one embodiment of the present invention;

[0023] Appendix Figure 2 This is a schematic diagram showing the shape of the angle switching device component mounting plate in the intermediate switching state in one embodiment of the present invention.

[0024] Appendix Figure 3 This is a schematic diagram of the rear view angle structure in one embodiment of the present invention;

[0025] Appendix Figure 4 This is a schematic diagram of the shape of the sliding groove on the limiting plate in one embodiment of the present invention;

[0026] Appendix Figure 5 This is a schematic diagram showing the shape of the mounting plate of the angle switching device component in a first angle according to one embodiment of the present invention.

[0027] Appendix Figure 6 This is a schematic diagram showing the shape of the mounting plate of the angle switching device component in a second angle according to one embodiment of the present invention.

[0028] In the diagram: 1. Base; 2. Limiting plate; 201. Sliding groove; 2011. Strip groove I; 2012. Strip groove II; 2013. Limiting position I; 2014. Limiting position II; 2015. Intersection point; 202. Limiting surface I; 3. Rotating shaft hinge; 4. Component mounting plate; 5. Component; 6. Support arm; 7. Movable rotating shaft; 701. Rotating shaft limiting gasket I; 8. Rotating support arm; 801. Limiting surface II; 802. Rotating part; 803. Sliding part; 9. Sliding rotating shaft; 10. Elastic element; 11. Fixed rotating shaft; 1101. Rotating shaft limiting gasket II; 12. Fixed rotating shaft seat. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0031] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0032] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal connection of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0033] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0034] As attached Figure 1 - Appendix Figure 6 As shown, this utility model provides an angle switching device, including a base 1, a component mounting plate 4, and an angle adjustment mechanism;

[0035] One end of the component mounting plate 4 is hinged to the base 1, and the other end has a support arm 6 protruding towards the base 1. The component mounting plate 4 is used to mount the component 5, which can be any electrical device with angle adjustment requirements, such as radar, camera, distance sensor, solar panel, etc. The component mounting plate 4 is hinged to the base 1 through a rotating structure. The rotating structure can be a rotating shaft and hole, hinge, or other structure that allows two objects to rotate relative to each other. In a preferred embodiment, the rotating structure is a rotating shaft hinge 3, which has the advantages of simple installation and stable and reliable rotation.

[0036] The angle adjustment mechanism includes a limiting plate 2, a rotating support arm 8 and an elastic element 10. The limiting plate 2 is set on the rotation path of the component mounting plate 4. The limiting plate 2 is provided with a limiting surface I 202 on the side near the component mounting plate 4. The side wall of the limiting plate 2 is provided with a sliding groove 201.

[0037] The rotating support arm 8 is provided with a limiting surface II 801, a rotating part 802 and a sliding part 803 in sequence. The rotating part 802 is hinged to the end of the support arm 6, and the sliding part 803 is slidably engaged with the sliding groove 201. That is, the rotation path of the rotating support arm 8 is limited by the position of the support arm 6 and the sliding part 803 in the sliding groove 201, so that it has a fixed movement trajectory.

[0038] One end of the elastic element 10 is connected to the base 1, and the other end is connected to the hinge shaft between the rotating part 802 and the support arm 6.

[0039] When the sliding part 803 is in the limiting position Ⅰ2013 of the sliding groove 201, the elastic element 10 pulls the component mounting plate 4 to fit tightly against the limiting surface Ⅰ202. At this time, the component mounting plate 4 is at a first angle, and the elastic element 10 is in a first pulled state. When the sliding part 803 is in the limiting position Ⅱ2014 of the sliding groove 201, the elastic element 10 pulls the component mounting plate 4 to fit tightly against the limiting surface Ⅱ801. At this time, the component mounting plate 4 is at a second angle, and the elastic element 10 is in a second pulled state. The first angle is smaller than the second angle, and the tensile strength of the first pulled state is smaller than the tensile strength of the second pulled state. For example, the first angle is 23° and the second angle is 45°. Of course, the first angle can be changed by designing the height and tilt angle of the limiting surface Ⅰ202, that is, the first angle can be designed according to actual needs. The second angle can be changed by designing the size of the rotating support arm 8 and the angle of the limiting surface Ⅱ, that is, the second angle can also be confirmed according to actual needs.

[0040] The angle switching device provided by this utility model can achieve rapid switching between two angles. Specifically, by switching the limiting position of the sliding part 803 within the sliding groove 201, combined with the energy storage characteristics of the elastic element 10, the component mounting plate 4 can be instantly switched between a preset first angle and a second angle. Furthermore, the tensile strength of the elastic element 10 is greater at larger angles than at smaller angles, providing differentiated preload. It provides basic holding force at smaller angles (normal state) and enhanced holding force at larger angles (where wind resistance is high and swaying is more likely). It has strong adaptability. In addition, compared with traditional solutions such as electric push rods, encoder motors, and servo motors for angle switching, this utility model uses a simpler and lighter mechanical structure, requires no additional power supply, has high reliability, and is more suitable for deployment and use on small UAVs. Compared with traditional disassembly and assembly structures using bolts and pins, this utility model requires no tools and has no parts detached from the whole, enabling faster switching. Furthermore, the tension of the elastic element 10 can compensate for machining errors or usage gaps in parts, ensuring the stability of the preset angle of the component mounting plate 4.

[0041] In one embodiment, reference is made to the appendix. Figure 4 The sliding groove 201 includes two interconnected but non-collinear strip grooves, I 2011 and II 2012. The limiting position I 2013 is located at one end of strip groove I 2011 away from strip groove II 2012, and the limiting position II 2014 is located at one end of strip groove II 2012 away from strip groove I 2011. Since strip grooves I 2011 and II 2012 are not collinear, it can prevent the sliding part 803 from stopping accidentally in the middle position of the sliding groove 201.

[0042] In one embodiment, the strip groove I 2011 and the strip groove II 2012 intersect at intersection point 2015;

[0043] The strip groove I 2011 is arranged inclined towards the base 1 from the intersection point 2015 to the limit position I 2013, wherein the lower end of the strip groove I 2011 is the limit position I 2013. The strip groove II 2012 is arranged inclined towards the base 1 from the intersection point 2015 to the limit position II 2014, wherein the lower end of the strip groove II 2012 is the limit position II 2014. In this embodiment, when the sliding part 803 slides in the inclined strip groove I 2011 and strip groove II 2012, it will have a vertical component force, which makes the sliding part 803 have a tendency to move into the limit position I 2013 or the limit position II 2014 after passing the intersection point 2015, thereby improving the switching efficiency. Furthermore, with the intersection point 2015 as the dividing line between the strip groove I 2011 and the strip groove II 2012, when the sliding part 803 is located in the strip groove I 2011 and there is no external force, the sliding part 803 will automatically slide into the limit position I 2013. When the sliding part 803 is located in the strip groove II 2012 and there is no external force, the sliding part 803 will automatically slide into the limit position II 2014. That is, when adjusting the angle of the component mounting plate 4, it is only necessary to slide the sliding part 803 and pass through the intersection point 2015 to the corresponding strip groove. The inclined arrangement of the strip groove will automatically cause the sliding part 803 to enter the corresponding limit position and automatically complete the subsequent angle adjustment.

[0044] In one embodiment, the distance from the hinge point of the support arm 6 and the rotating part 802 to the component mounting plate 4 is equal to the distance from the rotating part 802 to the limiting surface II 801. In this embodiment, when the sliding part 803 is in the limiting position II 2014 of the sliding groove 201, the limiting surface II 801 can just abut against the lower side of the component mounting plate 4.

[0045] In one embodiment, when the sliding part 803 is at the limiting position II 2014 of the sliding groove 201, the rotating part 802 is located above the limiting position II 2014. The elastic element 10 pulls the rotating part 802 to rotate around the sliding part 803 in the direction of the elastic element 10's pulling force, forming a rotational tendency. This rotational tendency causes the limiting surface II 801 to fit against the component mounting plate 4, forming a self-locking mechanism. In this embodiment, the self-locking mechanism, combined with the large tensile strength of the elastic element 10, achieves a large-angle stable fixation of the component mounting plate 4. Preferably, the rotating part 802 is located diagonally above the limiting position II 2014 and close to the hinge 3 of the component mounting plate 4, so that it will not rotate in the opposite direction even if disturbed. Compared to the position where the rotating part 802 is directly above the limiting position II 2014, its stability is higher.

[0046] In one embodiment, two sets of limiting plates 2 are symmetrically arranged on the left and right sides, and two sets of support arms 6 and rotating support arms 8 are symmetrically arranged, with the support arms 6 and rotating support arms 8 positioned between the two limiting plates 2. This embodiment improves the rotational connection strength between the limiting plates 2, support arms 6, and rotating support arms 8, and also prevents axial displacement of the support arms 6 and rotating support arms 8 along their rotation axis, thus improving connection stability. Furthermore, since the two sets of support arms 6 and rotating support arms 8 operate synchronously, in a preferred embodiment, the lower ends of the rotating support arms 8 are connected to each other by a connector, improving the connection strength while ensuring synchronous operation of the two rotating support arms 8.

[0047] In one embodiment, the two sets of support arms 6 and the rotating part 802 are rotatably connected by a movable shaft 7. This simplifies the rotational stability of both.

[0048] In one preferred embodiment, the elastic element 10 is provided in two sets between the two sets of support arms 6, thereby increasing the elastic force of the elastic element 10.

[0049] Preferably, a fixed rotating shaft 11 is provided on the base 1. Preferably, a set of fixed rotating shaft seats 12 is provided on the base 1, and the fixed rotating shaft 11 is disposed on the fixed rotating shaft seats 12.

[0050] Preferably, the elastic element 10 is a tension spring, with connecting rings at both ends. One end of the tension spring is rotatably connected to the movable shaft 7 via the connecting ring, and the other end is rotatably connected to the fixed shaft 11 via the connecting ring. This arrangement allows both ends of the elastic element 10 to rotate with the fixed shaft 11 and the movable shaft 7, avoiding torque forces, improving its service life, and ensuring elastic tension.

[0051] In other embodiments, the elastic element 10 may also be other elements that have tensile force after stretching, such as elastic bands, gas springs, etc.

[0052] In this embodiment, using two sets ensures sufficient elastic force while maintaining a simple structure, balanced tension, and ease of assembly and disassembly. In other embodiments, more than two sets of elastic elements 10 may be used.

[0053] In one embodiment, the movable rotating shaft 7 is provided with rotating shaft limiting shims I 701 on both sides of the connecting ring. The two rotating shaft limiting shims I 701 are spaced apart from the connecting ring to allow the connecting ring to rotate freely and limit its axial position. The fixed rotating shaft 11 is provided with rotating shaft limiting shims II 1101 on both sides of the connecting ring. The two rotating shaft limiting shims II 1101 are spaced apart from the connecting ring to allow the connecting ring to rotate freely and limit its axial position. By setting the rotating shaft limiting shims, the axial position of the connecting ring can be limited, avoiding interference from overlapping tension springs during movement. In practical applications, the elastic element 10 can also be selected from elastic elements including but not limited to gas springs, rubber bands, etc., and the number can be adjusted according to the elastic k value of the selected component for adaptation, and is not limited to the two in this embodiment.

[0054] In one embodiment, a sliding shaft 9 is provided on the sliding part 803, and the sliding part 803 slides in conjunction with the sliding groove 201.

[0055] This utility model also provides a drone, including the aforementioned angle switching device. The component mounting plate 4 of the angle switching device is used to mount the component 5. The component 5 can be any electrical device with angle adjustment requirements, such as radar, camera, distance sensor, solar panel, etc. The drone provided in this embodiment has a lightweight, reliable angle switching device that does not require additional power supply, which helps to improve the drone's flight time.

[0056] The above description is merely an embodiment and does not constitute any limitation on this utility model. Any person skilled in the art can make many possible variations, modifications, or alterations to the technical solution of this utility model without departing from its scope. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this utility model, without departing from its scope, should fall within the protection scope of this utility model.

Claims

1. An angle switching device, characterized in that, Includes a base (1), a component mounting plate (4), and an angle adjustment mechanism; One end of the component mounting plate (4) is hinged to the base (1), and the other end is provided with a support arm (6) protruding towards the base (1). The angle adjustment mechanism includes a limiting plate (2), a rotating arm (8), and an elastic element (10). The limiting plate (2) is provided with a limiting surface I (202) on the side near the component mounting plate (4). The side wall of the limiting plate (2) is provided with a sliding groove (201). The rotating arm (8) is provided with a limiting surface II (801), a rotating part (802), and a sliding part (803) in sequence. The rotating part (802) is hinged to the end of the arm (6), and the sliding part (803) is slidably engaged with the sliding groove (201). One end of the elastic element (10) is connected to the base (1), and the other end is connected to the hinge shaft between the rotating part (802) and the arm (6). When the sliding part (803) is in the limiting position I (2013) of the sliding groove (201), the elastic element (10) pulls the element mounting plate (4) to fit tightly against the limiting surface I (202). When the sliding part (803) is in the limiting position II (2014) of the sliding groove (201), the elastic element (10) pulls the element mounting plate (4) to fit tightly against the limiting surface II (801).

2. The angle switching device as claimed in claim 1, characterized in that, The sliding groove (201) includes two interconnected but non-collinear strip grooves I (2011) and II (2012), with limiting position I (2013) located at one end of strip groove I (2011) away from strip groove II (2012) and limiting position II (2014) located at one end of strip groove II (2012) away from strip groove I (2011).

3. The angle switching device as described in claim 2, characterized in that, Slot I (2011) and slot II (2012) intersect at intersection point (2015); The strip groove I (2011) is arranged at an angle towards the base (1) from the intersection point (2015) to the limit position I (2013), and the strip groove II (2012) is arranged at an angle towards the base (1) from the intersection point (2015) to the limit position II (2014).

4. The angle switching device as claimed in claim 1, characterized in that, The distance from the hinge of the support arm (6) and the rotating part (802) to the component mounting plate (4) is equal to the distance from the rotating part (802) to the limiting surface II (801).

5. The angle switching device as claimed in claim 4, characterized in that, in When the sliding part (803) is in the limiting position II (2014) of the sliding groove (201), the rotating part (802) is located above the limiting position II (2014). The elastic element (10) pulls the rotating part (802) to rotate around the sliding part (803) in the direction of the pulling force of the elastic element (10) to form a rotation trend. The rotation trend causes the limiting surface II (801) to fit with the component mounting plate (4) to form a self-locking.

6. The angle switching device as claimed in claim 1, characterized in that, Two sets of limiting plates (2) are symmetrically arranged on the left and right, and two sets of support arms (6) and rotating support arms (8) are symmetrically arranged, with the support arms (6) and rotating support arms (8) arranged between the two limiting plates (2).

7. The angle switching device as claimed in claim 6, characterized in that, The two sets of support arms (6) and the rotating part (802) are rotatably connected by a movable shaft (7).

8. The angle switching device as claimed in claim 7, characterized in that, Two sets of elastic elements (10) are provided between the two sets of support arms (6); A fixed rotating shaft (11) is provided on the base (1); The elastic element (10) is a tension spring. Connecting rings are provided at both ends of the tension spring. One end of the tension spring is rotatably connected to the movable rotating shaft (7) through the connecting ring, and the other end is rotatably connected to the fixed rotating shaft (11) through the connecting ring.

9. The angle switching device as claimed in claim 8, characterized in that, The movable rotating shaft (7) is provided with rotating shaft limiting gasket I (701) on both sides of the connecting ring, and the fixed rotating shaft (11) is provided with rotating shaft limiting gasket II (1101) on both sides of the connecting ring.

10. An unmanned aerial vehicle (UAV), characterized in that, Includes the angle switching device as claimed in any one of claims 1-9.

Images