CN113716014B - Four-rotor unmanned aerial vehicle capable of automatically retracting and releasing horn and horn retracting and releasing method - Google Patents
Four-rotor unmanned aerial vehicle capable of automatically retracting and releasing horn and horn retracting and releasing method Download PDFInfo
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- CN113716014B CN113716014B CN202110955879.5A CN202110955879A CN113716014B CN 113716014 B CN113716014 B CN 113716014B CN 202110955879 A CN202110955879 A CN 202110955879A CN 113716014 B CN113716014 B CN 113716014B
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 26
- 230000006978 adaptation Effects 0.000 claims description 6
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- 238000013459 approach Methods 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, in particular to a four-rotor unmanned aerial vehicle capable of automatically retracting and releasing a horn and a horn retracting and releasing method. The unmanned aerial vehicle is connected by the connecting belt, the arm can be automatically retracted and extended, the whole is lighter, and the stability of the arm in a normal state is ensured by the torsion spring arrangement at the joint of the synchronous wheels and the cooperation limit of the limit mechanism.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a four-rotor unmanned aerial vehicle capable of automatically retracting a horn and a horn retracting method.
Background
Unmanned plane is called by four rotor unmanned plane, which is a kind of name with four arms in unmanned plane, and is called by unmanned plane with wireless remote control device and self-provided program control device.
Most of traditional four rotor unmanned aerial vehicles are fixed horn, or the horn design can be manual folding or dismantle in order to accomodate and transport, can't realize independently receive and release in the flight process, and along with unmanned aerial vehicle range of application is extensive gradually, fixed has not satisfied with actual demand, and traditional receive and release to the armed lever adopts gear motor, worm and gear etc. usually, can increase unmanned aerial vehicle's organism weight certainly when being applied to unmanned aerial vehicle, is not applicable to pursuing on the small-size four rotor unmanned aerial vehicle of nimble light.
Disclosure of Invention
Based on the technical problems of the background technology, the invention provides a four-rotor unmanned aerial vehicle capable of automatically retracting a horn and a horn retracting method.
The invention provides a four-rotor unmanned aerial vehicle capable of automatically winding and unwinding a horn, which comprises an unmanned aerial vehicle main body, wherein the horns of the unmanned aerial vehicle main body are respectively provided with a horn, and an impeller mechanism is fixed at one end of the horn.
Preferably, the four corners position at unmanned aerial vehicle main part top all is fixed with the fixing base, and is connected with the synchronizing wheel through torsional spring rotation between the top and the bottom inner wall of fixing base, the horn is fixed in the outer wall of synchronizing wheel, the intermediate position rotation of unmanned aerial vehicle main part top outer wall is connected with the drive wheel, and the bottom transmission of drive wheel is connected with driving motor, and the outer wall rotation of drive wheel has cup jointed two connecting bands, rotates between the both ends of connecting band respectively with the synchronizing wheel outer wall that is in diagonal position and is connected, and four horns rotate towards same circumferencial direction when the connecting band rotates, and one side that four horns kept away from the unmanned aerial vehicle main part extends towards both ends and both sides outer wall respectively, and the connecting band adopts hold-in range or wire rope.
Preferably, the driving wheel and the synchronizing wheel are both arranged into cylindrical structures, tooth grooves with annular structures are formed in the top and the bottom of the circumferential outer walls of the driving wheel and the synchronizing wheel, the inner wall of the connecting belt is matched with the inner wall of the tooth groove, the two connecting belts are respectively corresponding to the tooth grooves in the top and bottom positions, and the horn is fixed at the top position of the outer wall of the synchronizing wheel.
Preferably, stop gear is provided with two stoppers and a movable block, and stopper and movable block are located the both sides inner wall of connecting band respectively, and stopper and movable block's bottom outer wall all with unmanned aerial vehicle main part's top sliding connection, the movable block is located the position between two stoppers, and the mounting groove has been seted up to one side outer wall that the movable block was kept away from to the stopper, and the inner wall of mounting groove is fixed with the magnetic path, magnetic adsorption between movable block and the magnetic path.
Preferably, fixed position one end between movable block and the corresponding connecting band sets up to the fixed point, and a plurality of spread grooves have been seted up to the tip that the movable block kept away from the fixed point, and the inner wall sliding connection of spread groove has to support the piece, is connected with the elastic component between the one end outer wall of supporting the piece and the inner wall of spread groove, and the one end that the piece kept away from the elastic component is set up to the arc structure of outwards arching, and the position that the spread groove corresponds with the bottom block has been seted up inwards sunken and is the groove of supporting of arc structure, supports magnetism absorption between piece and the magnetic path.
Preferably, the stopper is close to the opening of movable block looks adaptation has been seted up to one side outer wall of movable block, and the inboard position of opening one end inner wall has been seted up and has been corresponded the contact groove of corner position looks adaptation with the movable block, and the outside position of opening one end inner wall is provided with the hunch and is the opening of arc structural domain, supports the groove setting in the position between contact groove and opening, is provided with the clearance between opening and the movable block.
Preferably, the horn sets up to the support body structure that both sides penetrated, and the centre of horn is provided with both sides open-ended cavity, the circuit between impeller mechanism and the unmanned aerial vehicle main part is arranged on the inner wall and the outer wall of horn casing, be provided with a plurality of buffer gear in the cavity, buffer gear is provided with the locating piece of being connected between cavity bottom and top inner wall through the bearing rotation, the circumference outer wall of locating piece is fixed with the auxiliary leaf that annular array distributes, leave the clearance between the top and the bottom outer wall of auxiliary leaf and the top and the bottom inner wall of cavity respectively, the width of auxiliary leaf reduces gradually towards one side of keeping away from the locating piece.
Preferably, a stop block is fixed on one side of the inner wall of the bottom of the horn, which is positioned between two adjacent positioning blocks, and the retracting action of the horn is set to rotate towards one side close to the stop block, and the stop block is set to be an arc-shaped structure with a middle position arched towards one side close to the positioning blocks.
Preferably, a split block is fixed on one side of the inner wall of the bottom of the horn, which is positioned between two adjacent positioning blocks, and the unfolding action of the horn is set to rotate towards one side close to the split block, the section of the split block is set to be in a V-shaped structure, and the middle position of the split block is bent towards one side far away from the positioning block.
The horn retraction method of the four-rotor unmanned aerial vehicle capable of retracting the horn autonomously adopts the four-rotor unmanned aerial vehicle capable of retracting the horn autonomously, and comprises the following steps:
S1: when the device is in normal use, the driving wheel is rotated to drive the connecting belt, so that the four arms are in an extended state, the torsion springs connected with the synchronous wheels are in a normal state, and the limiting mechanisms at the positions of the connecting belt and the arms are in a limiting state;
S2: when the unmanned aerial vehicle is used for traversing spaces with different sizes, the driving motor is remotely started to rotate the driving wheel, the four synchronous wheels overcome the resistance of the torsion spring by utilizing the two connecting belts, the four arms rotate towards the same circumferential direction and all approach the outer wall of the shell of the unmanned aerial vehicle main body, the limiting mechanism is separated from an initial state, and the distance between the arms and the unmanned aerial vehicle main body is adjusted so as to adjust the whole width range of the unmanned aerial vehicle to adapt to the spaces with different sizes;
s3: after the device passes through the space, the driving wheel is reversely rotated to reset the arm and the limiting mechanism, and the torsion spring at the position of the synchronous wheel is restored to the normal state.
The beneficial effects of the invention are as follows:
1. In the embodiment of the invention, the driving wheel and the two connecting belts are utilized to simultaneously rotate the four synchronous wheels so as to simultaneously realize the retraction operation of the four horn arms, the transverse width of the unmanned aerial vehicle can be reduced when the horn arms are synchronously retracted, the unmanned aerial vehicle can pass through narrow spaces such as doors and windows and narrow slits to obtain stronger complex environment adaptation capability, the connection of the connecting belts can avoid prolonging the length of the horn arms and increasing the weight of the machine body by adding too many worm connection structures, the unmanned aerial vehicle capable of autonomously retracting the horn arms is lighter, the stability of the horn arms in a normal state is ensured by the torsion spring arrangement at the connecting positions of the synchronous wheels and the cooperation limit of the limit mechanism, and the condition that the unmanned aerial vehicle is too much dependent on the connecting belts and the synchronous wheels to keep stable is avoided, so that the equipment is ensured to be used effectively for a long time.
2. In the embodiment of the invention, when the horn is retracted and released to the maximum, the moving blocks are just attached to the two limiting blocks respectively, so that the magnetic blocks on the limiting blocks are adsorbed to the moving blocks, the stability between the moving blocks and the limiting blocks at the corresponding positions is improved, the stability of the horn at the corresponding positions is further improved by matching with the torsion spring structure, the fixing of the horn by relying on the connecting belt and the synchronous wheel only is avoided by utilizing the limiting mechanism formed by the moving blocks and the limiting blocks, the effective flying use of the equipment is prolonged, the service life of the equipment is prolonged, and the overlarge suction caused by direct contact adsorption can be avoided by the arrangement of the magnetic blocks and the interlayer of the moving blocks, so that the damage to the connecting belt and the driving wheel is avoided when the retraction and the release are started again because the suction is overlarge.
3. According to the embodiment of the invention, through the hollow design of the middle position of the horn, the intensity of the horn is ensured, the overweight of the horn is avoided, the arrangement of the positioning blocks and the auxiliary blades which rotate in the cavity is utilized, the surrounding collision airflow in the using process is buffered, the stability of the horn in the using process is enhanced by matching with the torsion spring and the limiting mechanism, the intensity of the horn before the use is enhanced, and the side of the auxiliary blades away from the positioning blocks is in a pointed cone shape, so that the wind pressure is broken when the horn is folded and unfolded, and the intensity damage of the driving wheel and the connecting belt is reduced.
4. In the embodiment of the invention, when the horn is unfolded to fly normally, the V-shaped concave surface of the split block and the cambered surface of the split block are utilized to increase the airflow resistance opposite to the retraction rotation direction of the horn, and the V-shaped convex surface of the split block is utilized to disperse and buffer the airflow along the rotation direction, so that the horn is prevented from rotating or swinging to one side of the retraction direction because the horn is directly blown by wind, and the integral stability of the horn and the unmanned aerial vehicle in the actual use flying process is further enhanced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic diagram of a limiting mechanism according to the present invention;
FIG. 4 is a schematic view of a stopper according to the present invention;
FIG. 5 is a schematic view of a horn structure according to the present invention;
fig. 6 is a schematic structural diagram of a buffering mechanism according to the present invention.
In the figure: the unmanned aerial vehicle comprises a unmanned aerial vehicle body 1, a horn 2, a vane wheel mechanism 3, a fixed seat 4, a synchronous wheel 5, a tooth socket 501, a driving wheel 6, a connecting belt 7, a limiting block 8, a moving block 9, a magnetic block 10, a connecting groove 11, a supporting block 12, an elastic piece 13, a notch 14, a contact groove 1401, a supporting groove 1402, an opening 1403, a positioning block 15, an auxiliary blade 16, a stop block 17 and a shunting block 18.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1
Referring to fig. 1-4, a four rotor unmanned aerial vehicle that can receive and release horn independently, including unmanned aerial vehicle main part 1, unmanned aerial vehicle main part 1's four corners position all is provided with horn 2, and the one end of horn 2 is fixed with impeller mechanism 3, be provided with four synchronizing wheel 5 on the unmanned aerial vehicle main part 1, two connecting strips 7 and a drive wheel 6, and drive wheel 6 drives two connecting strips 7 and rotates, two connecting strips 7 drive four synchronizing wheel 5 and rotate towards same circumferencial direction, the position that corresponds with horn 2 between the connecting strip 7 inner wall is provided with stop gear.
According to the invention, the four corners of the top of an unmanned aerial vehicle main body 1 are respectively fixed with a fixed seat 4, the top and bottom inner walls of the fixed seat 4 are rotationally connected with a synchronous wheel 5 through torsion springs, a horn 2 is fixed on the outer wall of the synchronous wheel 5, the middle position of the top outer wall of the unmanned aerial vehicle main body 1 is rotationally connected with a driving wheel 6, the bottom end of the driving wheel 6 is in transmission connection with a driving motor, the outer wall of the driving wheel 6 is rotationally sleeved with two connecting belts 7, two ends of each connecting belt 7 are respectively rotationally connected with the outer wall of the synchronous wheel 5 at a diagonal position, when each connecting belt 7 rotates, four horns 2 rotate towards the same circumferential direction, one side of each horn 2 far away from the unmanned aerial vehicle main body 1 extends towards the two ends and the two side outer walls, and each connecting belt 7 adopts a synchronous belt or a steel wire rope;
Thereby utilize drive wheel 6 and two connecting bands 7 to rotate four synchronizing wheel 5 simultaneously to realize the operation of receiving and releasing of four horn 2 simultaneously, can reduce unmanned aerial vehicle horizontal width when horn 2 is synchronous to be packed up, make unmanned aerial vehicle can pass through narrow and small spaces such as door and window, narrow slit, obtain stronger complicated environmental adaptation ability, and utilize connecting band 7's connection can avoid extension horn 2 length also to avoid increasing too much worm connection structure and increase the weight of organism, make the unmanned aerial vehicle that can receive and release horn 2 independently wholly lighter, and utilize the torsional spring setting of synchronizing wheel 5 junction and stop gear's cooperation spacing to guarantee the stability of horn 2 under the normal condition, and avoid too much reliance connecting band 7 and synchronizing wheel 5 to keep stable, thereby guarantee the long-term effectual use of equipment.
In the invention, a driving wheel 6 and a synchronizing wheel 5 are both arranged into cylindrical structures, tooth grooves 501 with annular structures are respectively formed at the top and the bottom of the circumferential outer walls of the driving wheel 6 and the synchronizing wheel 5, the inner wall of a connecting belt 7 is matched with the inner wall of the tooth groove 501, two connecting belts 7 respectively correspond to the tooth grooves 501 at the top and the bottom, a horn 2 is fixed at the top of the outer wall of the synchronizing wheel 5, and the connecting belt 7 rotates along with the driving wheel 6 by utilizing the tooth grooves matched with the inner wall of the connecting belt 7 and the driving wheel 6 and the synchronizing wheel 5, and the synchronizing wheel 5 is driven to rotate by the rotating connecting belt 7.
In the invention, the limiting mechanism is provided with two limiting blocks 8 and a moving block 9, the limiting blocks 8 and the moving block 9 are respectively positioned on the inner walls of the two sides of the connecting belt 7, the outer walls of the bottoms of the limiting blocks 8 and the moving block 9 are both in sliding connection with the top of the unmanned aerial vehicle main body 1, the moving block 9 is positioned between the two limiting blocks 8, the outer wall of one side of the limiting block 8, which is far away from the moving block 9, is provided with a mounting groove, the inner wall of the mounting groove is fixedly provided with a magnetic block 10, and magnetic adsorption is carried out between the moving block 9 and the magnetic block 10;
when the horn 2 is folded and unfolded to the maximum extent, the moving block 9 is just attached to the two limiting blocks 8 respectively, thereby the magnetic block 10 on the limiting block 8 is utilized to be adsorbed between the moving block 9, thereby the stability between the moving block 9 and the limiting block 8 at the corresponding position is improved, the stability of the horn 2 at the corresponding position is further improved by matching with the torsion spring structure, the horn 2 is prevented from being fixed only by relying on the connecting belt 7 and the synchronous wheel 5 by utilizing the limiting mechanism formed by the moving block 9 and the limiting block 8, the effective flying use of the equipment is prolonged, the service life of the equipment is prolonged, the suction force is prevented from being overlarge due to direct contact adsorption through the arrangement of the magnetic block 10 and the interlayer of the moving block 9, and the damage to the connecting belt 7 and the driving wheel 6 during the folding and unfolding start due to overlarge suction force is avoided.
In the invention, a plurality of connecting grooves 11 are formed at the end of the moving block 9 far away from a fixed point, an abutting block 12 is connected to the inner wall of the connecting groove 11 in a sliding manner, an elastic piece 13 is connected between the outer wall of one end of the abutting block 12 and the inner wall of the connecting groove 11, one end of the abutting block 12 far away from the elastic piece 13 is arranged into an outwards arched structure, and an inwards concave abutting groove 1402 in an arched structure is formed at the position of the connecting groove 11 corresponding to the bottom block 12.
In the invention, an opening 14 matched with a moving block 9 is formed on the outer wall of one side of a limiting block 8 close to the moving block 9, a contact groove 1401 matched with the corresponding corner position of the moving block 9 is formed at the inner side position of the inner wall of one end of the opening 14, an opening 1403 arched to form an arc-shaped structural domain is formed at the outer side position of the inner wall of one end of the opening 14, a supporting groove 1402 is arranged between the contact groove 1401 and the opening 1403, and a gap is formed between the opening 1403 and the moving block 9;
When the arm 2 is retracted to the maximum, the abutting block 12 just extends into the abutting groove 1402 at the corresponding position by using the elastic force of the elastic piece 13, and the arched structure of the opening 1403 is used for preventing the arm 2 from driving the connecting belt 7 to rotate due to wind power so as to enable the abutting block 12 to slide out, so that the stability of the arm 2 in the actual use process is improved by matching with the magnetic block 10 and the torsion spring.
Example 2
Embodiment 2 includes all the structures and methods of embodiment 1, referring to fig. 1-6, a four-rotor unmanned aerial vehicle capable of automatically retracting a horn, further including a frame structure with two penetrating sides of the horn 2, a cavity with two openings is arranged in the middle of the horn 2, a line between the impeller mechanism 3 and the unmanned aerial vehicle main body 1 is arranged on the inner wall and the outer wall of the shell of the horn 2, a plurality of buffer mechanisms are arranged in the cavity, the buffer structures are provided with positioning blocks 15 connected between the bottom and the top inner wall of the cavity through bearings in a rotating manner, auxiliary blades 16 distributed in an annular array are fixed on the circumferential outer wall of the positioning blocks 15, gaps are reserved between the top and the bottom outer walls of the auxiliary blades 16 and the top and bottom inner walls of the cavity respectively, and the width of the auxiliary blades 16 gradually decreases towards one side far away from the positioning blocks 15;
Through hollow design in intermediate position, avoid horn 2 overweight in guaranteeing horn 2 intensity, and utilize the setting of a plurality of pivoted locating pieces 15 and auxiliary blade 16 in the cavity, and bump the air current around to the use and cushion, cooperation torsional spring and stop gear and strengthen the stability of horn 2 in the use, and strengthen the before-use intensity of horn 2, and auxiliary blade 16 is sharp awl form in one side of keeping away from locating piece 15, break open the wind pressure when the horn 2 receive and releases the start-up in order to reduce the intensity damage of drive wheel 6 and connecting band 7.
In the invention, a stop block 17 is fixed on one side of the inner wall of the bottom of the horn 2, which is positioned between two adjacent positioning blocks 15, the retracting action of the horn 2 is set to rotate towards one side close to the stop block 17, and the stop block 17 is set to be an arc-shaped structure with the middle position arched towards one side close to the positioning blocks 15;
A split block 18 is fixed on one side of the inner wall of the bottom of the horn 2, which is positioned between two adjacent positioning blocks 15, the unfolding action of the horn 2 is set to rotate towards one side close to the split block 18, the cross section of the split block 18 is set to be in a V-shaped structure, and the middle position of the split block 18 is bent towards one side far away from the positioning blocks 15;
When the horn 2 is unfolded to fly normally, the V-shaped concave surface of the split block 18 and the cambered surface of the split block 18 are utilized to increase the airflow resistance opposite to the direction of retraction and rotation of the horn 2, and the V-shaped convex surface of the split block 18 is utilized to disperse and buffer airflow along the direction of rotation, so that the horn 2 is prevented from rotating or swinging to one side of the direction of retraction because of being directly blown by wind, and the overall stability of the horn 2 and the unmanned aerial vehicle in the process of actual use and flying is further enhanced.
Example 3
Embodiment 3 includes all the structures of embodiment 1, referring to fig. 1 to 4, a method for folding and unfolding a four-rotor unmanned aerial vehicle capable of folding and unfolding a horn autonomously, the four-rotor unmanned aerial vehicle capable of folding and unfolding a horn autonomously includes the following steps:
S1: during normal use, the connecting belt 7 is driven by rotating the driving wheel 6, so that the four arms 2 are in an extended state, at the moment, the torsion springs connected with the synchronous wheels 5 are in a normal state, and the limiting mechanisms at the positions corresponding to the connecting belt 7 and the arms 2 are in a limiting state;
S2: when the unmanned aerial vehicle is used for crossing a space which is smaller than a normal flight state, such as a door window, and the like, the driving motor is remotely started to rotate the driving wheel 6, the four synchronous wheels 5 overcome the resistance of torsion springs by utilizing the two connecting belts 7, the four horn 2 rotates towards the same circumference direction and approaches to the outer wall of the shell of the unmanned aerial vehicle main body 1, the limiting mechanism is separated from the initial state, and the distance between the horn 2 and the unmanned aerial vehicle main body 1 is adjusted, so that the whole width of the unmanned aerial vehicle is reduced to pass through the small space;
S3: after crossing the narrow space, the driving wheel 6 is reversely rotated to reset the arm 2 and the limiting mechanism, and the torsion spring at the position of the synchronizing wheel 5 is restored to the normal state.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (5)
1. The four-rotor unmanned aerial vehicle is characterized in that four synchronous wheels, two connecting belts and a driving wheel are arranged on the unmanned aerial vehicle body, the driving wheel drives the two connecting belts to rotate, the two connecting belts drive the four synchronous wheels to rotate towards the same circumferential direction, and a limiting mechanism is arranged between the inner walls of the connecting belts and corresponds to the horn;
The four corners of the top of the unmanned aerial vehicle main body are respectively fixedly provided with a fixing seat, a synchronizing wheel is rotationally connected between the top and bottom inner walls of the fixing seat through a torsion spring, a horn is fixed on the outer wall of the synchronizing wheel, the middle position of the outer wall of the top of the unmanned aerial vehicle main body is rotationally connected with a driving wheel, the bottom end of the driving wheel is in transmission connection with a driving motor, the outer wall of the driving wheel is rotationally sleeved with two connecting belts, two ends of each connecting belt are respectively rotationally connected with the outer wall of the synchronizing wheel at a diagonal position, when each connecting belt rotates, four horns rotate towards the same circumferential direction, one side of each horn, which is far away from the unmanned aerial vehicle main body, extends towards the two ends and the outer walls of two sides, and each connecting belt adopts a synchronous belt or a steel wire rope;
the driving wheel and the synchronous wheel are both arranged into cylindrical structures, tooth grooves with annular structures are formed in the top and the bottom of the circumferential outer walls of the driving wheel and the synchronous wheel, the inner walls of the connecting belts are matched with the inner walls of the tooth grooves, the two connecting belts respectively correspond to the tooth grooves at the top and the bottom, and the horn is fixed at the top position of the outer wall of the synchronous wheel;
The limiting mechanism is provided with two limiting blocks and a moving block, the limiting blocks and the moving block are respectively positioned on the inner walls of the two sides of the connecting belt, the outer walls of the bottoms of the limiting blocks and the moving block are both in sliding connection with the top of the unmanned aerial vehicle main body, the moving block is positioned between the two limiting blocks, the outer wall of one side of the limiting block, which is far away from the moving block, is provided with a mounting groove, the inner wall of the mounting groove is fixedly provided with a magnetic block, and magnetic attraction is realized between the moving block and the magnetic block;
one end of a fixed position between the movable block and the corresponding connecting belt is set as a fixed point, the end part of the movable block, which is far away from the fixed point, is provided with a plurality of connecting grooves, the inner wall of each connecting groove is connected with a propping block in a sliding manner, an elastic piece is connected between the outer wall of one end of each propping block and the inner wall of each connecting groove, one end of each propping block, which is far away from the elastic piece, is set as an outwards arched structure, the position, which corresponds to the bottom block, of each connecting groove is provided with a propping groove, which is inwards sunken to be in an arched structure, and magnetic adsorption is realized between each propping block and each magnetic block;
The stopper is close to the opening of movable block looks adaptation has been seted up to one side outer wall of movable block, and the inboard position of opening one end inner wall has been seted up and has been corresponded the contact groove of corner position looks adaptation with the movable block, and the outside position of opening one end inner wall is provided with the arch and is the opening of arc structural domain, supports the groove setting in the position between contact groove and opening, is provided with the clearance between opening and the movable block.
2. The four-rotor unmanned aerial vehicle capable of automatically retracting and releasing a horn according to claim 1, wherein the horn is arranged into a frame structure with two penetrating sides, a cavity with two openings is arranged in the middle of the horn, a circuit between an impeller mechanism and an unmanned aerial vehicle body is arranged on the inner wall and the outer wall of a horn shell, a plurality of buffer mechanisms are arranged in the cavity, the buffer structures are provided with positioning blocks which are rotationally connected between the bottom of the cavity and the inner wall of the top through bearings, auxiliary blades distributed in an annular array are fixed on the outer wall of the circumference of the positioning blocks, gaps are reserved between the top and the outer wall of the bottom of the auxiliary blades and the inner wall of the top and the bottom of the cavity respectively, and the width of the auxiliary blades is gradually reduced towards one side far away from the positioning blocks.
3. The four-rotor unmanned aerial vehicle capable of automatically retracting and releasing the horn according to claim 2, wherein a stop block is fixed on one side of the inner wall of the bottom of the horn, which is positioned between two adjacent positioning blocks, and the retracting action of the horn is set to rotate towards one side close to the stop block, and the stop block is set to an arc-shaped structure with a middle position arched towards one side close to the positioning blocks.
4. The four-rotor unmanned aerial vehicle capable of automatically retracting and releasing the horn according to claim 3, wherein a split block is fixed on one side of the inner wall of the bottom of the horn, which is positioned between two adjacent positioning blocks, and the deployment action of the horn is set to rotate towards one side close to the split block, the cross section of the split block is set to be in a V-shaped structure, and the middle position of the split block is bent towards one side far away from the positioning blocks.
5. An arm retraction method of a quad-rotor unmanned aerial vehicle capable of retracting an arm autonomously, which adopts the quad-rotor unmanned aerial vehicle capable of retracting an arm autonomously according to any one of claims 1 to 4, and is characterized by comprising the following steps:
S1: when the device is in normal use, the driving wheel is rotated to drive the connecting belt, so that the four arms are in an extended state, the torsion springs connected with the synchronous wheels are in a normal state, and the limiting mechanisms at the positions of the connecting belt and the arms are in a limiting state;
S2: when the unmanned aerial vehicle is used for traversing spaces with different sizes, the driving motor is remotely started to rotate the driving wheel, the four synchronous wheels overcome the resistance of the torsion spring by utilizing the two connecting belts, the four arms rotate towards the same circumferential direction and all approach the outer wall of the shell of the unmanned aerial vehicle main body, the limiting mechanism is separated from an initial state, and the distance between the arms and the unmanned aerial vehicle main body is adjusted so as to adjust the whole width range of the unmanned aerial vehicle to adapt to the spaces with different sizes;
s3: after the device passes through the space, the driving wheel is reversely rotated to reset the arm and the limiting mechanism, and the torsion spring at the position of the synchronous wheel is restored to the normal state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110955879.5A CN113716014B (en) | 2021-08-19 | 2021-08-19 | Four-rotor unmanned aerial vehicle capable of automatically retracting and releasing horn and horn retracting and releasing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN113716014A (en) | 2021-11-30 |
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