CN218777708U - Unmanned aerial vehicle and diversion-adjustable staggered floor lever stretching mechanism thereof - Google Patents

Abstract

The utility model discloses an unmanned aerial vehicle and adjustable staggered floor lever of diversion is visited and is stretched mechanism thereof, include the unmanned aerial vehicle body and arrange the arm of stretching of visiting on the unmanned aerial vehicle body, still include the balance subassembly, visit the arm of stretching and arrange on the unmanned aerial vehicle body, the balance subassembly is arranged in unmanned aerial vehicle body originally internally, has arranged the battery case of unmanned aerial vehicle body on the balance subassembly, the balance subassembly can promote the battery case to remove under the flexible situation of the arm of visiting, the balance subassembly promotes the battery case and removes orientation and visit the flexible orientation of arm and be in same vertical plane and its projection on the horizontal plane is reverse each other. The utility model discloses the setting can arrange the balanced subassembly of battery case, and balanced subassembly promotes the battery case and removes orientation and stretch out and draw back the arm and stretch out and draw back the orientation and be in same vertical face and its projection on the level is reciprocal, forms lever balance adjustment structure, and balanced subassembly corresponds reverse extrapolation battery case and removes under the overhanging situation of the arm of stretching out of spying for whole focus keeps being in central small-scale in adjustment, improves stability.

Description

Unmanned aerial vehicle and diversion-adjustable staggered floor lever stretching mechanism thereof

Technical Field

The utility model relates to an unmanned air vehicle technique field, especially an unmanned aerial vehicle who stretches mechanism is visited to adjustable staggered floor lever of diversion.

Background

Along with unmanned aerial vehicle technical development, its range of application is more and more extensive, if detect and maintain etc. to the building, need dispose on rotor unmanned aerial vehicle body and visit the stretching arm, dispose sucker structure at the stretching arm front end even, stretch out to adsorb to fix on the building surface and detect the operation.

The utility model discloses a crack detection unmanned aerial vehicle in the Chinese utility model patent with the publication number of CN216509120U, which comprises a flying machine body, a swing mechanism, a stretching mechanism and a crack detection mechanism carried on the stretching mechanism, wherein the swing mechanism is used for adjusting the angle of the stretching mechanism, the swing mechanism is arranged in the middle of the flying machine body, the stretching mechanism is connected to the swing mechanism, the crack detection mechanism is connected to the stretching mechanism, and the crack detection mechanism is driven to slide by the stretching mechanism; this unmanned aerial vehicle can be applicable to and spy stretching the regulation of a plurality of angles of mechanism, does benefit to the detection work of wall crackle. However, this unmanned aerial vehicle surveys and stretches mechanism and crack detection mechanism produces the influence to whole weight center when overhanging, needs each rotor of adjustment flight organism to keep balance, if visit and stretch the mechanism and carry equipment heavier or the overhanging overlength on it, will cause great influence to flight organism equilibrium, lead to the unbalance even.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the above problems, the invention provides an unmanned aerial vehicle, which is provided with a staggered-level lever balance adjustment extension mechanism, can extend the corresponding reverse outward movement under the outward extending condition of an arm, keeps the whole gravity center in the small-range adjustment of the center, and improves the stability.

In order to achieve the above purpose, the utility model adopts the technical proposal that:

unmanned aerial vehicle, including the unmanned aerial vehicle body and arrange the stretching arm on the unmanned aerial vehicle body, still include the balance subassembly, the stretching arm is arranged on the unmanned aerial vehicle body, the balance subassembly is arranged in unmanned aerial vehicle body, arrange the battery case of unmanned aerial vehicle body on the balance subassembly, the balance subassembly can promote the battery case to remove under the flexible situation of stretching arm of stretching, the balance subassembly promotes the battery case to remove and is in same vertical plane and its projection on the horizontal facies is reverse each other with the flexible orientation of stretching arm of stretching.

Wherein, balanced subassembly includes balanced seat, guide and balanced driving piece, and balanced seat can slidable arrange in unmanned aerial vehicle originally internally through the guide, is provided with battery installation department on the balanced seat and makes it can install the battery case, and balanced driving piece can be for visiting the fixed arrangement of arm mounted position center department, and balanced driving piece can promote balanced seat and remove along the guide, makes it can promote the battery case and remove under the flexible condition of the arm of visiting. The balance driving piece is a balance stepping motor, the balance stepping motor is provided with a balance rack, the balance rack is fixedly arranged on the balance seat, and the balance stepping motor is in gear transmission connection with the balance rack.

As above-mentioned, the setting can arrange the balanced subassembly of battery case, and balanced subassembly promotes the battery case and removes orientation and stretch out the arm with the flexible orientation of spy and be in same vertical plane and its projection on the horizontal surface is reverse each other, forms lever balance adjustment structure, and balanced subassembly corresponds reverse extrapolation battery case and removes under the overhanging situation of spy arm for whole focus keeps being in central miniaturely within range adjustment, improves stability. Simultaneously, utilize the battery case as the counter weight, form the balanced structure of adjusting of staggered floor lever, do benefit to the heavy burden of control unmanned aerial vehicle.

Based on aforementioned example, as preferred, in order to solve the diversion problem of the arm of stretching not changeing under the unmanned aerial vehicle body orientation situation, this unmanned aerial vehicle still includes and turns to the subassembly, and the arm of stretching is arranged on turning to the subassembly, and balanced subassembly arranges on turning to the subassembly, turns to rotatable arranging in the unmanned aerial vehicle body of subassembly, and turns to the subassembly and can drive the arm of stretching and balanced subassembly synchronous rotation on the horizontal face to the diversion of arm in the level face is stretched in the realization. As preferably, turn to the subassembly and include the balancing stand, turn to the platform, the steering spindle reaches and turns to the driving piece, the steering spindle can rotatable arrange on the unmanned aerial vehicle body, steering spindle I end is fixed to be set up on turning to the platform, it arranges on turning to the platform to visit the arm, steering spindle II end is fixed to be set up on the balancing stand, but balanced seat passes through guide slidable connection on the balancing stand, the balance driving piece is fixed to be set up on the balancing stand, it is connected with the steering spindle transmission to turn to the driving piece, it can be for unmanned aerial vehicle body fixed arrangement to turn to the driving piece, make visit arm and balancing piece can rotate on the horizontal plane in step under turning to the driving piece drive. So, will visit and stretch the arm and arrange in turning to the bench, turn to the bench and pass through the rotatable arrangement of steering spindle on the unmanned aerial vehicle body, turn to the driving piece and drive down, turn to the bench and can rotate on the level is to the face, drive and visit the arm and rotate on the level is to the face, realize the level to the adjustable of face and adjust.

Based on the foregoing example, as preferably, in order to solve the angle of elevation angle regulation problem of exploring arm, this unmanned aerial vehicle still includes the swing subassembly, and exploring arm sets up on the swing subassembly, and the swing subassembly sets up on the turn to the bench, and the swing subassembly can drive exploring arm and rotate in order to adjust exploring arm angle of elevation angle on the vertical plane. Preferably, the swing assembly includes the support frame, the swinging bracket and the swing driving piece, the support frame is fixed to be set up on the bogie, and this support frame can outwards bulge for the bogie in order to form the evagination section, the swinging bracket is rotatable to be set up on the evagination section of this support frame, the swing driving piece is connected with the swinging bracket transmission, the swing driving piece can be for bogie fixed arrangement, the fixed setting of probing arm is on the swinging bracket for probing arm can rotate on the vertical plane under the swing driving piece drives. The swing frame comprises a support and a rack seat, the rack seat is of a semicircular structure, a tooth part is arranged on the inner wall surface of the rack seat, the support is fixedly connected to the opening end of the rack seat, the extension arm is fixedly arranged on the support, the middle part of the support is rotatably arranged on the convex section of the support frame through a swing shaft, the swing driving part is fixedly arranged on the steering table, and the swing driving part is in gear transmission connection with the tooth part of the rack seat; the swing driving piece is a swing stepping motor, the steering driving piece is a steering stepping motor, and the steering stepping motor is in transmission connection with the steering shaft gear. Therefore, the support and the rack seat are utilized to form a semicircular frame, the rotation center is arranged at the middle position of the support, the swing driving piece is utilized to drive the rack seat, the rack seat is enabled to have a longer force arm, the driving can be realized by using a smaller swing driving piece, and the control of load bearing is facilitated.

Due to the adoption of the technical scheme, the utility model discloses following beneficial effect has:

1. the utility model discloses an unmanned aerial vehicle sets up the balanced subassembly that can arrange the battery case, and balanced subassembly promotes the battery case and removes orientation and the flexible orientation of spy stretching arm and be in same vertical plane and its projection on the horizontal side reverse each other, forms staggered floor lever balance adjustment, and balanced subassembly corresponds reverse extrapolation battery case removal under the overhanging situation of spy stretching arm for whole focus keeps being in central miniaturely internal adjustment. Can keep unmanned aerial vehicle focus stable, effectively improve overall stability, do benefit to and improve overhanging length and deliver the ability. Simultaneously, utilize the battery case as the counter weight, form the balanced structure of adjusting of staggered floor lever, do benefit to the control unmanned aerial vehicle and bear a burden, battery case weight accounts for than great moreover, removes in the small-scale and can realize balanced adjustment.

2. The bogie passes through the rotatable arrangement of steering spindle on the unmanned aerial vehicle body, and the steering spindle is connected with the transmission of rotation driving piece, therefore under the drive of steering driving piece, the bogie can rotate on the level is to the face, drives to visit and stretches the arm and rotate on the level is to the face, realizes the level to the variable of face and adjusts.

3. The extension arm is arranged on the swing assembly, the swing assembly can drive the extension arm to rotate on the vertical surface, the extension arm rotates along with the swing assembly to adjust the elevation angle of the extension arm, the swing assembly is arranged on the steering table, and the horizontal direction-variable adjustment is realized simultaneously by the elevation angle adjusting function, so that the extension operation range is effectively expanded.

Drawings

Figure 1 is the utility model discloses an unmanned aerial vehicle example 1 looks sideways at the schematic structure diagram.

Fig. 2 is a partially enlarged view of fig. 1.

Fig. 3 is a schematic structural diagram of the drone body of fig. 1.

Fig. 4 is a schematic structural view of the probing mechanism of fig. 1.

Fig. 5 is a partially enlarged view of fig. 4.

Fig. 6 is a partially enlarged view of fig. 4.

Fig. 7 is a partially enlarged view of fig. 6.

Fig. 8 is still another partial enlarged view of fig. 6.

Fig. 9 is a schematic view of the structure of fig. 4 from yet another perspective.

Fig. 10 is a partially enlarged view of fig. 9.

Fig. 11 is still another partial enlarged view of fig. 9.

Fig. 12 is still another enlarged partial view of fig. 9.

Fig. 13 is a schematic view of the structure of fig. 4 from yet another perspective.

Fig. 14 is a partially enlarged view of fig. 13.

Fig. 15 is still another partial enlarged view of fig. 13.

Fig. 16 is a schematic view of the structure of fig. 4 from yet another perspective.

Fig. 17 is a partially enlarged view of fig. 16.

Fig. 18 is a partial structural view from yet another perspective of fig. 4.

Fig. 19 is a partial structural view from yet another perspective of fig. 4.

Fig. 20 is a partial internal structural view from yet another perspective of fig. 4.

Fig. 21 is a partial structural view from another perspective of fig. 20.

Fig. 22 is a schematic view of a side view of a part of the unmanned aerial vehicle example 2 of the present invention.

Fig. 23 is a schematic view of a side view of a part of example 3 of the unmanned aerial vehicle of the present invention.

Fig. 24 is a schematic view of a partial structure of the unmanned aerial vehicle example 4 of the present invention.

In the attached drawing, the device comprises a machine body 1, a machine body 2, a steering assembly 3, a swinging assembly 4, a stretching arm 5 and a balancing assembly.

Detailed Description

Example 1

Referring to fig. 3, it has horizontal x and vertical y to define on the unmanned aerial vehicle body, and z is vertical, and xy is the horizontal to the face, is the vertical plane through the xy normal plane of z.

Referring to fig. 1-21, the unmanned aerial vehicle of this embodiment, include the unmanned aerial vehicle body and arrange the stretching arm 4 on the unmanned aerial vehicle body, still include balance assembly 5, stretch arm 4 and arrange on the unmanned aerial vehicle body, balance assembly 5 arranges in the unmanned aerial vehicle body, arrange the battery case 53 of unmanned aerial vehicle body on balance assembly 5, balance assembly 5 can promote battery case 53 to remove under stretching arm 4 flexible situation, balance assembly 5 promotes battery case 53 to move towards and stretch out arm 4 flexible orientation with stretching arm and be in same vertical plane and its projection on the horizontal plane is reverse each other.

Wherein, the unmanned aerial vehicle body includes organism 1, frame 11, foot rest 12, trailing arm 13 and rotor 14 etc. disposes the circuit board etc. of lithium cell group and controller in the organism 1, opens via cable connection and control rotor 14 and stops. The unmanned aerial vehicle body is exploring the operation of stretching and need dispose and is exploring boom 2 and carry out the operation equipment, see chinese patent document "a crack detection unmanned aerial vehicle, notice No. CN216509120U", explain to four rotor unmanned aerial vehicle carry out the crack detection scheme to the building as the example, arranged on the unmanned aerial vehicle body and visited boom and crack detection mechanism, crack detection mechanism includes mechanical working arm and crack detector etc. can follow and visit and stretch the boom and slide and reach overhanging around, and then realize the crack detection through the crack detector. This application explains by way of example with exploring the position that the arm is installed on the unmanned aerial vehicle body, and it is typically electric putter or arm to visit the arm (only rolling over in a plane and outwards visiting and stretching), etc. and unmanned aerial vehicle body and visit the arm etc. and be existing technology, do not give unnecessary detail here.

Rectangle form battery case is existing technology, can be with balanced seat and battery case diapire integrated into one piece (with diapire thickness thickening), or adopt bonding or threaded connection mode fixed battery case and balanced seat, and unmanned aerial vehicle organism length and width size is limited, battery case weight accounts for than great (in an unmanned aerial vehicle, this unmanned aerial vehicle carries, deliver and continuation of the journey all is closely related with this battery, consequently general battery case accounts for than all great at this unmanned aerial vehicle weight, its balanced regulation displacement is shorter, therefore remove for the short distance of adaptation battery case, with the power cord extension to adaptation displacement can, still install existing wire arrangement ware receipts and releases the line as required additional, no longer describe herein.

Balance assembly 5 includes balanced seat 531, guide and balanced driving piece, and balanced seat 531 arranges in unmanned aerial vehicle this internally through guide slidable, is provided with battery installation department on balanced seat 531 and makes it can install battery case 53, and balanced driving piece locates fixed the arranging for exploring arm mounted position center, and balanced driving piece can promote balanced seat 531 and remove along the guide, makes it can promote battery case 53 and remove under exploring the flexible condition of arm.

Visit the stretching arm and generally stretch out or adduct on a vertical face, therefore this application uses this as an example to explain, it is in same vertical face when flexible to visit the stretching arm, then its projection is in a straight line on the horizontal plane, therefore balanced seat adopts the rectilinear movement structure, the guide adopts rectilinear track 52, preferably adopt two rectilinear track 52, can set up rectilinear guide 52 in the interior diapire of the organism 11 of unmanned aerial vehicle body, on inside wall or the interior roof, can adopt welding or integrated into one piece etc. at this moment, balanced seat passes through rectilinear guide 52 sliding connection on the inner wall (interior diapire, inside wall or interior roof) of organism 11, the realization is arranged balanced seat 531 in this internal unmanned aerial vehicle through guide slidable.

The balance driving member is a motor or a push rod, preferably, the balance driving member of this embodiment 1 is a balance motor, preferably, a balance step motor 55, the balance step motor 55 is configured with a balance rack 54, the balance rack 54 is fixedly disposed on the balance seat 531, and the balance step motor 55 is in gear transmission connection with the balance rack 54. A balance gear 541 meshed with the balance rack 54 is arranged on the driving shaft of the balance stepping motor 55 to realize gear transmission connection. The balance gear 541 is fixed on a balance shaft 553, the balance shaft 553 is fixed on two oppositely arranged balance fasteners 551 through a balance bearing 552, the balance fasteners 551 are in threaded connection with the inner wall of the machine body 11 corresponding to the mounting position of the balance seat, the balance stepping motor is in threaded connection with the inner wall of the machine body 11 through a Z-shaped frame III 555, and the balance shaft 553 and a driving shaft of the balance stepping motor can be connected through a coupling I554. Balanced step motor passes through driver drive operation, and balanced step motor is existing technique with this body coupling of unmanned aerial vehicle and control technology, no longer gives unnecessary details here.

As above-mentioned, balanced subassembly promotes battery case and removes orientation and the flexible orientation of exploring arm at level to projection parallel to each other and opposite direction on the face, and the battery case forms staggered floor lever adjustment structure with exploring arm, hangs or carries the heavy object weight situation according to exploring arm sky, and they correspond the length and the overhanging speed of adjusting for unmanned aerial vehicle central point according to the proportion. When the extension arm extends outwards, the battery box is moved reversely according to the extension length of the extension arm, so that the outer phase of the battery box is correspondingly matched with the length, and the outer phase of the battery box is correspondingly moved inwards on the contrary. So, can realize the focus adjustment for the whole focus of unmanned aerial vehicle keeps at central within range, keeps unmanned aerial vehicle focus stable, effectively improves overall stability, does benefit to and improves overhanging length and delivers the ability.

The setting can arrange the balanced subassembly of battery case, and balanced subassembly promotes the battery case and removes orientation and stretch out the flexible orientation of arm with spy and be in same vertical plane and its projection on the horizontal face reverse each other, forms staggered floor lever balance adjustment, and balanced subassembly corresponds reverse extrapolation battery case removal under the overhanging situation of arm of spying for whole focus keeps being in central small-range adjustment, improves stability. Simultaneously, utilize the battery case as the counter weight, form the balanced structure of adjusting of staggered floor lever, do benefit to the control unmanned aerial vehicle and bear a burden, battery case weight accounts for than great moreover, removes in the small-scale and can realize balanced adjustment.

Example 2

On the basis of embodiment 1, preferably, this embodiment 2 further includes a direction-changing adjusting structure to solve the direction-changing problem of the probe arm without changing the direction of the main body of the unmanned aerial vehicle, and for other reasons, please refer to the foregoing embodiment 1.

Referring to fig. 1-21, this unmanned aerial vehicle of this embodiment 2 still includes to turn to the subassembly 2, and the stretching arm 4 arranges on turning to the subassembly 2, and balanced subassembly 55 arranges on turning to the subassembly 2, turns to rotatable the arranging on the unmanned aerial vehicle body of subassembly 2, and turns to subassembly 2 and can drive stretching arm 4 and balanced subassembly 55 and rotate in step on the horizontal face.

Wherein, turn to subassembly 2 including balancing stand 51, turn to platform 21, steering spindle 22 and turn to the driving piece, steering spindle 22 can rotatable arrange on the unmanned aerial vehicle body, the fixed setting in the steering stand of I end of steering spindle 22, it arranges on turning to platform 21 to visit the arm 4, the fixed setting in balancing stand 51 of II end of steering spindle 22, but balanced seat 531 is through guide slidable connection on balancing stand 51, the fixed setting in balancing stand 51 of balanced driving piece, it is connected with the transmission of steering spindle 22 to turn to the driving piece, it can be fixed for the unmanned aerial vehicle body to turn to the driving piece and arrange, make and visit arm 4 and balancing subassembly 55 and can rotate on the horizontal plane synchronous under turning to the driving piece drive.

As shown in fig. 1-21, the rectangular balance seat and the battery box are used in this application for illustration, in which the battery box can only move on one side of the steering shaft, and in the initial state of the extension arm being retracted, the battery box may not be located in the geometric center area of the main body of the drone. Preferably, in practical applications, the balancing seat may be designed to be in a shape of a Chinese character 'ao', and the width of the recessed groove is greater than the diameter of the steering shaft, and the battery box is correspondingly designed to be in a shape of a Chinese character 'ao' or staggered recessed groove arrangement, and for the purpose of distinguishing and explaining, the balancing seat and the battery box are correspondingly defined as the balancing seat ', 531 is in a shape of a Chinese character' ao 'and the battery box' 53 is in a staggered arrangement structure as shown in fig. 24; so, be close to at balanced seat and battery case and turn to the axle head and be formed with the removal mouth that caves in corresponding to the steering shaft position, can make the steering shaft in the activity of the sunken groove of balanced seat and battery case, the battery case can be moved to sunken groove tank bottom contact steering shaft by one side of steering shaft, so, can arrange the battery case in the geometric center region of unmanned aerial vehicle body, increase unmanned aerial vehicle body overall stability, at this moment, balanced seat and battery case move outward by being in center department's sunken groove opening direction when exploring the arm is overhanging, otherwise then inwards remove.

The linear guide rail 52 is arranged on the balance table 51, welding or integral forming can be adopted, corresponding to the mounting position of the balance seat, the balance fastener 551 is in threaded connection with the balance table 51, and the balance stepping motor is in threaded connection with the balance table 51 through the Z-shaped frame III 555.

The steering driving piece is a steering motor, preferably a steering stepping motor 25, a steering gear I24 is arranged on the steering shaft 22, a steering gear II 241 meshed with the steering gear I is arranged on a driving shaft of the steering stepping motor 25, and the steering stepping motor 25 is in gear transmission connection with the steering shaft 22. Turn to step motor and pass through driver drive operation, turn to step motor and this body coupling of unmanned aerial vehicle and control technology and be existing technology, no longer give consideration to here.

In order to furthest keep the original structure of the unmanned aerial vehicle body, the steering assembly and the unmanned aerial vehicle body connecting structure can be realized by configuring the limiting platform 26. At this time, the steering shaft 22 is rotatably connected to the limiting table 26 through the steering bearing 23 and the steering sleeve 231, the steering sleeve 231 is fixedly connected to the limiting table 26 by welding or integral molding, etc., the inside of the steering sleeve 231 is connected to the middle part of the steering shaft 22 through the steering bearing 23, and the end I of the steering shaft is fixedly connected to the center position of the steering table 21, the end II of the steering shaft passes through the top plate 101 of the machine body 1 and is fixedly connected to the balancing table 51 in the machine body, etc. The steering stepping motor 25 is fixedly connected to the limiting table 26 through a Z-shaped frame I251, and is fixed in a threaded manner. Thus, the extension mechanism can rotate on a horizontal surface relative to the limiting table. Then, adopt threaded connection mode again will inject platform 26 fixed connection on the unmanned aerial vehicle body, set up mounting hole 112 on frame 11 upper plate 111, set up the fixed orifices in the corresponding position on injecing the platform, then cooperate bolt and nut fixed connection, realize arranging the steering spindle is rotatable on the unmanned aerial vehicle body. The steering bearing is described by taking one as an example, and can be adjusted to more than one according to requirements in practical application.

Wherein the stiff end of exploring the arm is fixed on turning to the platform, can adopt modes such as screwed connection, and the flexible end of exploring the arm can stretch out and contract in for turning to the platform to the realization will visit the arm and arrange in turning to the platform. The steering table and the limiting table can be respectively of a plate-shaped structure such as a circular plate or a rectangular plate, hollow holes can be formed in the steering table and the limiting table to reduce weight, a frame structure can be formed by connecting a square tube and the like in a transverse and longitudinal mode, the illustration is given by taking the circular plate without the hollow holes as an example, and the description is not repeated.

As above-mentioned, will visit the arm and arrange on the steering table, the steering table passes through the rotatable arrangement of steering spindle on the unmanned aerial vehicle body, and the steering spindle is connected with the transmission of rotation driving piece, therefore under the drive of steering driving piece, steering table and balancing stand can rotate on the horizontal is to the face, drive and visit arm and battery case synchronous rotation on the horizontal is to the face, the realization is visited the adjustable of the horizontal of arm and balancing subassembly to the face and is adjusted, make battery case (and balancing stand) and visit the staggered floor lever regulating action that the arm keeps being parallel to each other.

Example 3

In addition to embodiment 2, preferably, embodiment 3 further includes an elevation angle adjusting structure to solve the problem of adjusting the elevation angle of the boom, and please refer to embodiment 1 for other descriptions.

Referring to fig. 1-21, this unmanned aerial vehicle still includes swing assembly 3, and spy stretching arm 4 sets up on swing assembly 3, and swing assembly 3 sets up on steering table 21, and swing assembly 3 can drive and spy stretching arm 4 and rotate on the vertical plane, and spy stretching arm 4 rotates along with swing assembly 3 to adjust spy stretching arm 4 angle of elevation angle.

The swing assembly can be driven by a motor or a push rod, and preferably, the embodiment 2 adopts a motor-driven swing assembly.

Swing subassembly 3 includes support frame 32, swing span and swing driving piece, support frame 32 sets up on the bogie 21, and this support frame 32 can be for the bogie outwards protrusion in order to form the evagination section, the swing span is rotatable to be set up on the evagination section of this support frame 32, the swing driving piece is connected with the swing span transmission, the swing driving piece can be for bogie 21 fixed arrangement, it sets up on the swing span to visit 4 fixed of arm, make to visit arm 4 to stretch and can rotate on the vertical face under the swing driving piece drives.

The swing span includes support 31 and rack seat 33, rack seat 33 is half circular ring structure, can set up to major arc form, half circular arc form or minor arc form as required according to the angle, and the internal face of rack seat 33 is provided with tooth portion, support 31 is connected in the open end of rack seat 33, it sets up on support 31 to visit arm 4 fixed, the middle part of support 31 passes through the rotatable setting of oscillating axle 313 on the evagination section of this support frame, the swing driving piece sets up on the bogie table, and the swing driving piece is connected with the tooth portion gear drive of rack seat.

The two ends and the middle position of the support 31 are respectively provided with an end seat 41 and a center seat 311, and the fixed ends of the probing arms are fixed on the end seats and the center seat, and can adopt screw connection and other modes to arrange the probing arms on the steering table.

Two support frames 32 are selected and arranged oppositely, the support frames are in a trapezoidal structure from side view, two ends of the support frames are fixedly connected to the steering table 21 through frame body fasteners 321 respectively, and the middle parts of the support frames form an outward convex section; a swing shaft 313 is connected between the two protruding sections through a shaft fastening member 322, the end of the swing shaft 313 is inserted into a shaft hole at one end of the shaft fastening member and is screwed and fixed by a bolt, the other end of the shaft fastening member is screwed and fixed on the protruding section by a bolt, and the swing shaft 313 is rotatably connected to the support 31 through a swing bearing 312, typically, rotatably connected to the center base 311. Of course, a single support frame may also be used.

The swing driving part is a swing motor, preferably a swing stepping motor 34, and a driving shaft of the swing stepping motor 34 is provided with a swing gear 331 meshed and connected with the tooth part of the rack seat 33, so as to realize gear transmission connection. The swing gear 331 is fixed on the motor shaft 344, the motor shaft 344 is fixed on two oppositely arranged motor fasteners 341 through a motor bearing 343, the swing stepping motor is connected on the steering table 21 through a Z-shaped frame II 342 in a threaded manner, and the motor shaft 344 and a driving shaft of the swing stepping motor can be connected through a coupling 345. Swing step motor passes through driver drive operation, and swing step motor is existing technique with this body coupling of unmanned aerial vehicle and control technology, and it is no longer repeated here.

Wherein spare part such as turn to platform, support frame and swing span all adopts and make with the same existing material of unmanned aerial vehicle body frame, like carbon fiber plate, carbon fiber pipe etc. or adopt conventional materials such as stainless steel, aluminum alloy to make, no longer expand the description here.

As above-mentioned, will visit the stretching arm and set up on the swing subassembly, the swing subassembly can drive and visit the stretching arm and rotate on vertical face, and it rotates along with the swing subassembly to visit the stretching arm angle of elevation angle to adjust, swing subassembly sets up in the steering table moreover, and the level can change to the regulation to the face when possessing angle of elevation angle regulatory function simultaneously, and effective extension is visited and is stretched the operation range.

Simultaneously, for the swing shaft rotation scheme of swing stepper motor direct drive, this swing subassembly utilizes support and rack seat to constitute semi-circular frame, arranges the rotation center in support middle part position, recycles the swing driving piece and drives the rack seat, makes it have longer arm of force, uses less swing driving piece can realize the drive, does benefit to the control and bears a burden.

Example 4

The difference between this embodiment 4 and the foregoing embodiments 3 and 2 lies in the connection structure between the extending mechanism and the main body of the unmanned aerial vehicle, and no description is provided for the above embodiments 3 and 2.

Referring to fig. 22, in this embodiment 4, a fence is disposed on the outer edge of the limiting platform 26, so that it forms a circular or rectangular box structure, which can serve as a protection.

Example 5

The difference between this embodiment 5 and the foregoing embodiments 2-4 lies in the connection structure between the extending mechanism and the main body of the unmanned aerial vehicle, and for others, reference is made to the foregoing embodiments 3 and 2.

Referring to fig. 23, in the present embodiment 5, the limiting table 26 is removed, and the Z-frame I251 and the steering sleeve 231 are directly mounted on the upper plate 111 of the frame 11. At this time, if the unmanned aerial vehicle body frame adopts a two-petal upper plate as shown in fig. 3, the installation can be staggered at the interval position of the middle part; alternatively, the frame adopts a unitary plate-shaped upper plate structure to be mounted at a central position thereof. Of course, the Z-frame I251 and the steering sleeve 231 may be attached to the top plate 101 of the machine body 1. The structures can realize that the steering shaft can be rotatably arranged on the unmanned aerial vehicle body, and the description is not provided.

Example 6

This embodiment 6 is a single example of the extension and detection mechanism of the unmanned aerial vehicle in embodiments 1 to 5, where the extension and detection mechanism is mainly applied to the unmanned aerial vehicle, and is also applicable to other devices used in the same/equivalent scenarios, and reference is not made to the foregoing embodiments 1 to 5 for a description, which specifically includes:

referring to fig. 1-21, the adjustable staggered floor lever of diversion of unmanned aerial vehicle of this embodiment 6 surveys and stretches mechanism, including exploring the arm, still including steering assembly, still include balance assembly 5, it can arrange on the unmanned aerial vehicle body to visit the arm, balance assembly 5 can arrange in the unmanned aerial vehicle body, can arrange the battery case 53 of unmanned aerial vehicle body on balance assembly 5, balance assembly 5 can promote battery case 53 to remove under the flexible condition of the arm of exploring, balance assembly 5 promotes battery case 53 to move and is in same vertical plane and its projection on the horizontal plane with the flexible orientation of the arm of exploring and reverses each other.

Wherein, balanced subassembly 5 includes balanced seat 531, guide and balanced driving piece, and balanced seat 531 can arrange in unmanned aerial vehicle originally internally through the guide by slidable, is provided with the battery installation department on balanced seat 531 and makes it can install battery case 53, and balanced driving piece can stretch arm mounted position center department fixed arrangement for surveying, and balanced driving piece can promote balanced seat 531 and remove along the guide, makes it can promote battery case 53 and remove under the flexible condition of arm of surveying. The balance driving piece is a balance stepping motor 55, the balance stepping motor 55 is provided with a balance rack 54, the balance rack 54 is fixedly arranged on a balance seat 531, and the balance stepping motor 55 is in gear transmission connection with the balance rack 54.

As above-mentioned, the setting can arrange the balanced subassembly of battery case, and balanced subassembly promotes the battery case and removes orientation and stretch out the arm flexible orientation with spy and be in same vertical plane and its projection on the horizontal surface reverse each other, forms staggered floor lever balance adjustment, and balanced subassembly corresponds reverse extrapolation battery case and removes under the overhanging situation of spy arm for whole focus keeps being in central small-range adjustment, improves stability. Simultaneously, utilize the battery case as the counter weight, form the balanced structure of adjusting of staggered floor lever, do benefit to the control unmanned aerial vehicle and bear a burden, battery case weight accounts for than great moreover, removes in the minizone and can realize balanced adjustment.

Based on aforementioned example, in a preferred example, solve and visit the diversion problem of stretching the arm under the unmanned aerial vehicle body orientation situation of not transferring, the adjustable staggered floor lever of diversion of this example is visited and is stretched mechanism still includes to turn to subassembly 2, visits and stretches arm 4 and arrange on turning to subassembly 2, turns to subassembly 2 and can rotate and arrange on the unmanned aerial vehicle body, and turns to subassembly 2 and can drive and visit arm 4 and rotate on the horizontal surface. Wherein, turn to subassembly 2 including balancing stand 51, turn to platform 21, steering spindle 22 and turn to the driving piece, steering spindle 22 can rotatable arrange on the unmanned aerial vehicle body, the fixed setting in the steering stand 21 of I end of steering spindle 22, it arranges on turning to platform 21 to visit the arm 4, the fixed setting in the balancing stand 51 of II end of steering spindle 22, but balanced seat 531 is through guide slidable connection on balancing stand 51, balanced driving piece is fixed to be set up on balancing stand 51, turn to the driving piece and be connected with the transmission of steering spindle 22, it can arrange for unmanned aerial vehicle body is fixed to turn to the driving piece, make and visit arm 4 and balancing subassembly 55 and can be synchronous rotation on the horizontal plane under turning to the driving piece and drive. So, spy stretch arm arranges and turns to the bench, turns to the platform and passes through the rotatable arrangement of steering spindle on the unmanned aerial vehicle body, turns to under the driving piece drives, turns to platform and balanced platform and can rotate on the horizontal is to the face, drives to spy stretch arm and battery case and rotate in step on the horizontal is to the face, realizes the level of spy stretch arm and balanced subassembly to the variable direction regulation of face for battery case (and balanced seat) keeps the staggered floor lever regulating action that is parallel to each other with spy stretch arm.

Based on the foregoing example, in a preferred embodiment, in order to solve the problem of adjusting the elevation angle of the probing arm, the variable-direction staggered-layer lever probing mechanism of this example further includes a swing assembly 3, the probing arm 4 is disposed on the swing assembly 3, the swing assembly 3 is disposed on the steering table 21, and the swing assembly 3 can drive the probing arm 4 to rotate on the vertical plane, and the probing arm 4 rotates along with the swing assembly 3 to adjust the elevation angle of the probing arm 4. Wherein, swing subassembly 3 includes support frame 32, swing span and swing driving piece, support frame 32 sets up on bogie 21, and this support frame 32 can outwards bulge for bogie in order to form the evagination section, the swing span is rotatable to be set up on the evagination section of this support frame 32, the swing driving piece is connected with the swing span transmission, the swing driving piece can be for bogie 21 fixed arrangement, it sets up on the swing span to visit arm 4 fixed, make and visit arm 4 and can rotate on the vertical face under the swing driving piece drives. The swing span includes support 31 and rack seat 33, rack seat 33 is half circular ring structure, can set up to major arc form, half circular arc form or minor arc form as required according to the angle, and the internal face of rack seat 33 is provided with tooth portion, support 31 is connected in the open end of rack seat 33, it sets up on support 31 to visit arm 4 fixed, the middle part of support 31 passes through the rotatable setting of oscillating axle 313 on the evagination section of this support frame, the swing driving piece sets up on the bogie table, and the swing driving piece is connected with the tooth portion gear drive of rack seat. The swing driving piece is a swing stepping motor, the steering driving piece is a steering stepping motor, and the steering stepping motor is in transmission connection with the steering shaft gear. So, will visit the stretching arm and set up on swing assembly, swing assembly can drive and visit the stretching arm and rotate on vertical face, visits the stretching arm and rotates along with swing assembly to adjust and visit the stretching arm angle of elevation angle, swing assembly sets up in the steering bench moreover, is possessing angle of elevation angle regulatory function and realizes the level to the changeable direction regulation of face simultaneously, and effective extension is visited and is stretched the operation range. Simultaneously, for the swing shaft rotation scheme of swing stepper motor direct drive, this swing subassembly utilizes support and rack seat to constitute semi-circular frame, arranges the rotation center in support middle part position, recycles the swing driving piece and drives the rack seat, makes it have longer arm of force, uses less swing driving piece can realize the drive, does benefit to the control and bears a burden.

It should be noted that, the above embodiments may be combined with one another or two or more embodiments according to actual needs, and a plurality of embodiments are illustrated by a set of drawings with combined technical features, and bolt and nut connections of various parts can also be illustrated by a countersunk structure, which is not necessarily described herein.

It is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used herein as terms of orientation or positional relationship, relative to one another, and are used solely for convenience in describing the present invention and to simplify the description.

The above description is intended to illustrate and describe preferred embodiments of the invention, but not to limit the scope of the invention, and all equivalent variations and modifications of the teachings of the invention are intended to fall within the scope of the invention.

Claims (10)

1. The utility model provides an adjustable staggered floor lever of diversion of unmanned aerial vehicle surveys and stretches mechanism, includes and surveys the arm, its characterized in that: still include balanced subassembly, it can arrange on the unmanned aerial vehicle body to visit the stretching arm, balanced subassembly can arrange in unmanned aerial vehicle body, the battery case of unmanned aerial vehicle body can be arranged on the balanced subassembly, balanced subassembly can promote the battery case to remove under the flexible situation of the stretching arm of visiting, balanced subassembly promotes the battery case and removes orientation and the flexible orientation of visiting arm and be in same vertical plane and its projection on the horizontal surface is reverse each other.

2. The adjustable diversion staggered floor lever of unmanned aerial vehicle of claim 1, wherein: balanced subassembly includes balanced seat, guide and balanced driving piece, and balanced seat can slidable arrange in unmanned aerial vehicle this internally through the guide, is provided with battery installation department on balanced seat and makes it can install the battery case, and balanced driving piece can be for visiting the fixed arrangement of arm mounted position center department, and balanced driving piece can promote balanced seat and remove along the guide, makes it can promote the battery case and remove under the flexible condition of visiting the arm.

3. The adjustable diversion staggered floor lever of unmanned aerial vehicle of claim 2, wherein: still including turning to the subassembly, spy stretch the arm and arrange on turning to the subassembly, balanced subassembly arranges on turning to the subassembly, turns to the subassembly and can rotationally arrange on the unmanned aerial vehicle body, and turns to the subassembly and can drive and spy stretch arm and balanced subassembly and rotate in step on the horizontal face.

4. The adjustable diversion staggered floor lever of unmanned aerial vehicle of claim 3 is visited and is stretched mechanism, its characterized in that: the steering assembly comprises a balancing stand, a steering table, a steering shaft and a steering driving piece, the steering shaft can be rotatably arranged on an unmanned aerial vehicle body, the end I of the steering shaft is fixedly arranged on the steering table, the stretching arm is arranged on the steering table, the end II of the steering shaft is fixedly arranged on the balancing table, the balancing seat is connected onto the balancing table through the guide piece in a sliding manner, the balancing driving piece is fixedly arranged on the balancing table, the steering driving piece is connected with the steering shaft in a transmission manner, the steering driving piece can be fixedly arranged relative to the unmanned aerial vehicle body, and the stretching arm and the balancing assembly can be synchronously rotated on the horizontal plane under the driving of the steering driving piece.

5. The adjustable diversion staggered floor lever of unmanned aerial vehicle of claim 4 is visited and is stretched mechanism, its characterized in that: the device comprises a steering table, a detection arm, a swinging assembly and a control module, wherein the detection arm is arranged on the swinging assembly, the swinging assembly is arranged on the steering table, and the swinging assembly can drive the detection arm to rotate on a vertical plane so as to adjust the elevation angle of the detection arm;

the swing assembly comprises a support frame, a swing frame and a swing driving piece, the support frame is arranged on the steering table and can protrude outwards relative to the steering table to form an outward convex section, the swing frame is rotatably arranged on the outward convex section of the support frame, the swing driving piece is in transmission connection with the swing frame, the swing driving piece can be fixedly arranged relative to the steering table, and the probing arm is fixedly arranged on the swing frame so that the probing arm can rotate on a vertical plane under the driving of the swing driving piece;

the swing frame comprises a support and a rack seat, the rack seat is of a semicircular structure, the inner wall surface of the rack seat is provided with a tooth part, the support is fixedly connected with the opening end of the rack seat, the probing arm is fixedly arranged on the support, the middle part of the support is rotatably arranged on the convex section of the support frame through a swing shaft, the swing driving part is fixedly arranged on the steering table, and the swing driving part is in gear transmission connection with the tooth part of the rack seat;

a moving port which is sunken and has the width larger than the diameter of the steering shaft is arranged at the position of the balance seat close to the steering shaft end and corresponding to the steering shaft; the balance driving piece is balance step motor, and balance step motor disposes balance rack, and balance rack is fixed to be set up on balanced seat, and balance step motor is connected with balance rack gear drive, and the swing driving piece is swing step motor, just, turns to the driving piece for turning to step motor, turns to step motor and is connected with steering spindle gear drive.

6. The utility model provides an unmanned aerial vehicle, includes the unmanned aerial vehicle body and arranges the arm that stretches of visiting on the unmanned aerial vehicle body, its characterized in that: still include balanced subassembly, it arranges on the unmanned aerial vehicle body to visit the stretching arm, balanced subassembly arranges in unmanned aerial vehicle body, the last battery case of arranging the unmanned aerial vehicle body of balanced subassembly, balanced subassembly can promote the battery case to remove under the flexible condition of the stretching arm of visiting, balanced subassembly promotes the battery case and removes orientation and the flexible orientation of the stretching arm of visiting and be in same vertical plane and its projection on the horizontal plane is reverse each other.

7. A drone according to claim 6, characterized in that: balanced subassembly includes balanced seat, guide and balanced driving piece, and balanced seat can slidable arrange in unmanned aerial vehicle originally internally through the guide, is provided with battery installation department on the balanced seat and makes it can install the battery case, and balanced driving piece can stretch arm mounted position center department fixed arrangement for surveying, and balanced driving piece can promote balanced seat and remove along the guide, makes it can promote the battery case and remove under the flexible condition of arm of surveying.

8. A drone according to claim 7, characterized in that: still including turning to the subassembly, spy stretch the arm and arrange on turning to the subassembly, balanced subassembly arranges on turning to the subassembly, turns to the rotatable arrangement of subassembly on the unmanned aerial vehicle body, and turns to the subassembly and can drive spy stretch the arm and balanced subassembly and rotate in step on the horizontal surface.

9. The drone of claim 8, wherein: the steering assembly comprises a balancing table, a steering shaft and a steering driving piece, the steering shaft can be rotatably arranged on an unmanned aerial vehicle body, the end I of the steering shaft is fixedly arranged on the steering table, the sounding arm is arranged on the steering table, the end II of the steering shaft is fixedly arranged on the balancing table, the balancing seat is connected onto the balancing table in a sliding mode through the guiding piece, the balancing driving piece is fixedly arranged on the balancing table, the steering driving piece is connected with the steering shaft in a transmission mode, the steering driving piece can be fixedly arranged relative to the unmanned aerial vehicle body, and the sounding arm and the balancing assembly can synchronously rotate on a horizontal plane under the driving of the steering driving piece.

10. A drone according to claim 9, characterized in that: the swing assembly is arranged on the steering table and can drive the stretching arm to rotate on a vertical plane so as to adjust the angle of elevation of the stretching arm;

the swing assembly comprises a support frame, a swing frame and a swing driving piece, the support frame is fixedly arranged on the steering table and can protrude outwards relative to the steering table to form an outwards protruding section, the swing frame is rotatably arranged on the outwards protruding section of the support frame, the swing driving piece is in transmission connection with the swing frame, the swing driving piece can be fixedly arranged relative to the steering table, and the probing arm is fixedly arranged on the swing frame so that the probing arm can rotate on a vertical plane under the driving of the swing driving piece;

the swing frame comprises a support and a rack seat, the rack seat is of a semicircular structure, the inner wall surface of the rack seat is provided with a tooth part, the support is fixedly connected with the opening end of the rack seat, the probing arm is fixedly arranged on the support, the middle part of the support is rotatably arranged on the convex section of the support frame through a swing shaft, the swing driving part is fixedly arranged on the steering table, and the swing driving part is in gear transmission connection with the tooth part of the rack seat;

the balance seat and the battery box are provided with moving ports which are sunken and have the width larger than the diameter of the steering shaft at the positions, corresponding to the steering shaft, of the steering shaft ends; the balance driving piece is balance step motor, and balance step motor disposes balance rack, and balance rack is fixed to be set up on balanced seat, and balance step motor is connected with balance rack gear drive, and the swing driving piece is swing step motor, just, turns to the driving piece for turning to step motor, turns to step motor and is connected with steering spindle gear drive.

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