• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The drone (10) comprises a drone body (12) and a plurality of propulsion units (16) for driving propellers (18). Removable lateral bumpers (22) extend beyond the rotational zone of the propellers, each bumper being connected to the propulsion units on the same side by connecting arms (24) each comprising a pair of elongated blades elastically deformable with at their end a mounting clamp on a shaft (26) of the engine. Under the effect of an external transverse force exerted in a median region, the two blades may be deformed in the direction of a mutual approach to a mounting / disassembling position producing, by leverage, an opening of the clamp, so as to secure the arm of the bumper propellant, and vice versa the assembly / disassembly of the bumper by separating the clamp from the barrel, by the single transverse force exerted on the connecting arms.
    公开号:FR3020763A1
    申请号:FR1454084
    申请日:2014-05-06
    公开日:2015-11-13
    发明作者:Christine Caubel
    申请人:Parrot SA；
    IPC主号:
    专利说明:

    [0001] The invention relates to rotary wing drones, such as quadcopters. These drones comprise a drone body and a plurality of propulsion units each with a propeller driven by an individual engine. Each thruster block is mounted at the end of a respective link arm to the body of the drone. A typical example of such a drone is AR.Drone 2.0 from Parrot SA, Paris. It is desirable to protect the propellers against shocks they may suffer against obstacles during the evolution of the drone, especially when it is used in a relatively confined space, and conversely to protect the individuals. and the objects of contact with these propellers in case the drone comes to touch them. The drone is certainly equipped with means to detect any motor rotation anomaly that would be due to impeding the rotation of the propellers, so as to immediately cut off the power of the engines to avoid any worsening of the situation. But in the case of light shocks, this extreme solution may be excessive, even though the drone has only touched the obstacle. For these reasons, the drones are generally provided with a protection fairing mounted at the level of the propellers, and extending in the horizontal plane beyond the zone of rotation of the latter. In the case of a quadrocopter, especially in the case of the above-mentioned AR.Drone 2.0, this fairing is in the form of a molded expanded plastic crown, surrounding the drone on all sides, with four rings joined together and corresponding to the four rotation zones of the propellers. The assembly is secured to a protective shell of the drone body and can be removed completely, when the user wishes to drive the unmanned drone, in an open space without risks. This molded fairing protection is extremely effective as a bumper. On the other hand, it is not without drawbacks. Firstly, when the drone is equipped with this protective fairing, its aerodynamic performance is significantly reduced because of both the additional weight due to the fairing and the increased drag that the latter opposes the rapid movements of the drone, especially in a horizontal plane. For this reason, users often choose to upgrade the drone without its protective fairing, at the price of risk of shock by the propellers. Second, when removed, the fairing is bulky because of its shape with the four rings assembled together and connected to the protective shell of the drone body. In addition, to have the two possible configurations protected / unprotected, the user must carry both a protective fairing, that is to say comprising the shell with the four rings, and a single shell intended to be mounted on the body of the drone in the unprotected configuration. There remains therefore the need for a means of protection for a quadricopter-type rotary wing drone, which is more functional than what has been proposed so far, by satisfying all the following requirements: removable character, so as to have, at the option of the user, a drone configuration with / without protection; - easy assembly / disassembly of the protection, without recourse to any tool - minimum mass, so as not to interfere with the performance of the drone when the protection has been mounted on it, thus limiting to the strict minimum of the structures and mechanical equipment, without as much alter their rigidity and robustness; - minimum footprint, so as not to embarrass the user when the latter does not use the protection but keeps it nevertheless at hand; - minimizing the additional drag due to the presence of the protection, so as not to slow the advance of the drone in protected configuration; - minimum impact on the lift of the rotary wing, the surface of the elements located under the propeller must be as small as possible in order not to disturb the aerodynamics. The invention relates to a new type of protection for quadrocopter-type drone to achieve all of these goals.
    [0002] It proposes for this purpose such a drone including, in a manner known in itself: a drone body; a plurality of propulsion units remotely mounted from the drone body at the end of respective support arms, each propulsion unit comprising a propeller drive motor, with a propeller unit casing comprising a vertical shaft; and removable means for protecting the propellers. In a characteristic way of the invention: the removable means for protecting the propellers comprise lateral removable bumpers extending, in a horizontal plane, beyond the rotational zone of the propellers, each bumper being connected to the propulsion units located on the same side of the drone by respective link arms; each connecting arm comprises at its proximal end a mounting clip on the shaft of the propulsion unit; the mounting clip comprises an elastically-deformable cylindrical tube split by a proximally-oriented and axially-extending notch with edges along parallel generatrices, the inner diameter of the tube of the mounting clip being smaller than the diameter; the shaft of the propulsion unit; and the width in the transverse direction of the notch, in an elastically deformed mounting / disassembling position of the mounting clamp, is greater than the diameter of the propulsion unit barrel, to allow insertion of the clamp around the barrel and then clamping. of the latter by the clamp so as to secure the arm of the bumper to the power unit, and vice versa disassembly of the bumper by disconnecting the clamp from the drum. According to various advantageous subsidiary characteristics: each connecting arm comprises a pair of elongated elastically deformable blades or rods, extending at a distance from each other in a direction common to, on the one hand, the distal end of the connecting arm where these blades are connected to the bumper in a region thereof facing the drone body and, secondly, the proximal end of the connecting arm where these blades are connected to the mounting clamp ; the two blades are able to be elastically deformed, under the effect of an external transverse force exerted in a median region of the blades in the direction of a mutual approximation of the arms, towards said mounting / dismounting position where the mutual approximation tears produced at the proximal end of the blades, by leverage, biasing the tube of the clamp in the direction of the spacing of the edges of the notch, then clamping the clamp around the barrel at loosening of the transverse force exerted on the arms, so as to secure the arm of the bumper to the power unit, and vice versa the assembly / disassembly of the bumper by disconnecting the clamp from the barrel, by the single transverse force exerted on the connecting arms; - The cross section of the blades is rectangular, with the largest dimension of this straight section oriented parallel to the axis of rotation of the propeller block propeller; - The link arm, comprising the pair of blades and the mounting clamp, is a one-piece plastic part; the cross-section of the cylindrical tube of the clamp has a shape of C with two branches extending on either side of a central part forming an elastic hinge, and in which the blades are connected to the respective branches of the C in a middle region of the branch; and the drone is a quadrocopter comprising four propulsion units arranged in pairs on each side of the drone body, and in which the drone is provided with two lateral removable bumpers arranged symmetrically with respect to the body of the drone, each bored bumper being provided with two link arms with respective powertrains located on the same side of the body of the drone. An embodiment of the invention will now be described with reference to the appended drawings in which the same references designate elements that are identical or functionally similar from one figure to another. Figure 1 is a perspective view of a drone with its bumper protection according to the invention.
    [0003] Figure 2 is a perspective view of a bumper shown in isolation, showing in particular the connecting means and attachment to the drone. Figure 3 is a plan view, partial and enlarged, of the bumper of Figure 2, showing in particular the structure of the connecting arm and the clamp. FIG. 1 shows a quadrocopter-type drone 10 with a drone central body 12 from which four support arms 14 radiate. Each support arm 14 is equipped at its distal end with a propulsion unit. 16 comprising a motor driving in rotation a helix 18 extending in a horizontal plane above the support arm 14. In the lower part, the propulsion unit 16 is extended by a stirrup forming a foot 20 on which can rest on the ground the drone to shutdown.
    [0004] To ensure the protection of the propellers, the drone is provided with two lateral removable bumpers 22 arranged symmetrically with respect to the drone body 12. The bumpers have an elongated shape and extend, in the horizontal plane, beyond the area of rotation of the helices 18, thus providing protection mainly with respect to lateral shocks: thus, in case of erratic lateral movement of the drone, the bumper 22 comes to interpose between a possible obstacle and the propellers 18 , protecting them. The contact of the bumper 22 with the obstacle will also have the effect of causing a lateral rebound of the drone, tending to move it away from the obstacle.
    [0005] The forward extent of the bumper 22 is limited so as not to appear in the field of the front camera of the drone, which is a wide-angle camera; at the rear, the bumper 22 may extend with a slightly rounded portion from enveloping a portion of the rear propeller and thus protect the latter in case of retreat of the drone.
    [0006] Each of the two bumpers 22 is connected to the two propulsion units 16 located on the same side, via a corresponding pair of link arms 24 whose proximal end (the one closest to the drone body 12) comes from to fit on a cooperating part 26 of the propulsion unit 16, for example a vertical cylindrical shaft of the casing of this propulsion unit 16.
    [0007] Figure 2 illustrates in more detail the structure of one of the bumper 22 (the other being symmetrical), including connecting arms 24 and their mounting means on the shaft of the propulsion unit. Each of the link arms 24 is advantageously constituted by two substantially parallel blades or rods 28 extending between, on the one hand, a distal end 30 where they are connected to the bumper proper in a region thereof facing towards the drone body, and a proximal end provided with means 32 forming a mounting clamp on the shaft of the propulsion unit. This mounting clip comprises a cylindrical tube 34 split by a notch 36 proximal side (the side facing the propellant unit), this notch being formed with edges corresponding to vertical parallel generatrices of the tube 34. The blades 28 are advantageously of rectangular section with their largest dimension oriented vertically, that is to say parallel to the axis of the helix, so that the presence of these blades, which are placed under the propeller 18 when the shield shocks is mounted on the drone, disrupts the aerodynamics of the propellers as little as possible and only introduces a negligible loss of lift. The bumper 22 itself is for example made of expanded polypropylene, making it possible to produce a piece of relatively large volume but of low mass, and the connecting arm 24 is a one-piece piece made of an elastically deformable plastic material, for example made of ABS , the assembly formed by the blades 28 and the cylindrical tube 34 of the mounting clamp 32 being a molded monobloc element.
    [0008] Figure 3 illustrates in more detail, in plan, the structure of the link arm and how to manipulate the mounting clamp 32 by pinching the blades 28. The mounting clip 32 has a C-shaped section in plan. , with an inside diameter D slightly less than the diameter of the cylindrical shaft 26 of the propellant unit on which the clamp 32 will be placed. The C-shaped section comprises two branches 38 extending from a central portion 40 forming elastic hinge. To allow deformation of the forceps 32, the limbs 38 are connected to the proximal end 42 of the respective blade 28 in a medial region 44 of the branch 38. The distal opposite end 46 of each of the blades 28 is connected to the bumper 22 with which they constitute, mechanically, a one-piece assembly. The handling of the mounting clamp 32 is performed as follows.
    [0009] To open the clamp, the user exerts an external transverse force 48 on each of the median regions 50 of the blades 28 in the direction of a mutual approach towards their common axis A. Due to the elastically deformable nature of the material constituting the 28, these are deformed, as illustrated in dashed 28 ', which has the effect, by leverage exerted on the middle region 44 of the branches 38, to deform the latter as illustrated in dashed in 38 ', resulting in an increase, from e1 to e2, of the spacing between the free ends of these branches 38. The assembly is designed so that, for a complete pinch of the blades 28 (i.e. when they come into contact one against the other on their inner faces), the spacing 02 between the free ends of the branches 38 is greater than the diameter of the shaft 26 of the propulsion unit, thus allowing assembly or désassem The mounting clamp 32 can be easily blown and each of the link arms 24 secured to the propulsion unit 16 without the use of any tools. After placing the clamp 32 around the shaft 26 of the propulsion unit 16, the relaxation of the two blades 28 will have the effect of bringing the branches 38, which will grip without play the shaft 26, because of the diameter D slightly smaller than the diameter outside the drum.
    权利要求:
    Claims (6)
    [0001]
    REVENDICATIONS1. A quadricopter type rotary wing drone (10), comprising: - a drone body (12); a plurality of propulsion units (16) mounted at a distance from the drone body at the end of respective support arms (14), each propulsion unit comprising a drive motor of a propeller (18), with a casing propulsion unit comprising a vertical shaft (22); and removable means for protecting the propellers, characterized in that: the removable propeller protection means comprise lateral removable bumpers (22) extending, in a horizontal plane, beyond the zone of rotation propellers, each bumper being connected to the propulsion units located on the same side of the drone by respective connecting arms (24); each connecting arm comprises at its proximal end (42) a mounting clip (32) on the shaft of the propulsion unit; the mounting clip (32) comprises a resiliently deformable cylindrical tube (34) split by a notch (36) formed proximally and extending axially with edges along parallel generatrices, the inner diameter (D ) the tube of the mounting clamp being smaller than the diameter of the shaft of the propulsion unit; and - the width (e2) in the transverse direction of the notch (36), in an elastically deformed mounting / disassembling position of the mounting clamp (32), is greater than the diameter of the propeller barrel, to enable the insertion of the clamp around the barrel and clamping it by the clamp so as to secure the arm of the bumper to the propulsion unit, and vice versa disassembly of the bumper by disconnecting the clamp from the barrel.
    [0002]
    2. The drone of claim 1, wherein: - each connecting arm comprises a pair of blades (28) or elastically deformable elongate rods, extending at a distance from each other in a common direction ( A) between, on the one hand, the distal end (46) of the connecting arm where these blades (28) are connected to the bumper in a region (30) thereof facing the drone body and, on the other hand, the proximal end (42) of the link arm where these tears (28) are connected to the mounting clamp (32); and - the two blades are able to be elastically deformed, under the effect of an external transverse force (48) exerted in a median region (50) of the blades in the direction of a mutual approximation of the arms, towards said position of assembly / disassembly where the mutual approximation of the blades (28 ') produced at the proximal end of the blades, by leverage, a biasing of the tube of the clamp in the direction of the spacing of the edges of the notch (36) , then clamping the clamp around the barrel at the release of the transverse force exerted on the arms, so as to secure the arm of the bumper to the power unit, and vice versa the assembly / disassembly of the bumper by disconnecting the clamp with the barrel, by the single transverse force exerted on the connecting arms.
    [0003]
    3. The drone of claim 2, wherein the cross section of the blades (28) is rectangular, with the largest dimension of this straight section oriented parallel to the axis of rotation of the propeller block propeller.
    [0004]
    4. The drone of claim 2, wherein the link arm, comprising the pair of blades (28) and the mounting clamp (32), is a one-piece piece of plastic material. 25
    [0005]
    5. The drone of claim 2, wherein the cross section of the cylindrical tube of the clamp has a shape of C with two branches (38) extending on either side of a central portion (40) forming a hinge resilient, and wherein the blades are connected to respective branches of C in a medial region (44) of the limb.
    [0006]
    6. The drone of claim 1, wherein the drone is a quadrocopter comprising four propellant blocks (16) arranged in pairs on each side of the drone body (12), and wherein the drone is provided with two vanes. lateral removable shocks (22) arranged symmetrically with respect to the body of the drone, each bumper being provided with two connecting arms (24) to the respective propulsion units (16) located on the same side of the body of the drone.
    类似技术:
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    同族专利:
    公开号 | 公开日
    EP2942094B1|2016-08-17|
    CN105083544A|2015-11-25|
    JP2015212139A|2015-11-26|
    US20150321759A1|2015-11-12|
    FR3020763B1|2016-06-03|
    EP2942094A1|2015-11-11|
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    法律状态:
    2015-05-26| PLFP| Fee payment|Year of fee payment: 2 |
    2015-11-13| PLSC| Search report ready|Effective date: 20151113 |
    2016-05-24| PLFP| Fee payment|Year of fee payment: 3 |
    2016-11-11| TP| Transmission of property|Owner name: PARROT DRONES, FR Effective date: 20161010 |
    2018-03-02| ST| Notification of lapse|Effective date: 20180131 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1454084A|FR3020763B1|2014-05-06|2014-05-06|QUADRICOPTERE TYPE ROTARY SAILING WHEEL HAVING REMOVABLE PROPERTY PROTECTION BUMPERS|FR1454084A| FR3020763B1|2014-05-06|2014-05-06|QUADRICOPTERE TYPE ROTARY SAILING WHEEL HAVING REMOVABLE PROPERTY PROTECTION BUMPERS|
    US14/696,220| US20150321759A1|2014-05-06|2015-04-24|Rotary-wing drone of the quadricopter type, provided with removable bumpers for protecting the propellers|
    EP15165187.4A| EP2942094B1|2014-05-06|2015-04-27|Rotary-wing drone such as a quadcopter, with removable bumpers for propeller protection|
    JP2015093903A| JP2015212139A|2014-05-06|2015-05-01|Rotary-wing drone having removable bumpers for protecting propeller|
    CN201510225610.6A| CN105083544A|2014-05-06|2015-05-06|Rotary-wing drone of the quadricopter type, provided with removable bumpers for protecting the propellers|
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