A UAV automatic propeller folding device and propeller folding method

Abstract

The present invention relates to the field of unmanned aerial vehicles, and discloses an automatic propeller folding device and a propeller folding method for unmanned aerial vehicles, wherein the automatic propeller folding device for unmanned aerial vehicles comprises a centering component, which can drive the unmanned aerial vehicle to move horizontally from a parking position to a specified position; and a propeller shifting component, which can drive the propeller blades to rotate relative to the output shaft of a motor, so that the propeller blades are folded into a folding area surrounded by a fuselage and two adjacent motors. The automatic propeller folding device and a propeller folding method for unmanned aerial vehicles provided by the present invention first use the centering component to drive the unmanned aerial vehicle to move horizontally from a parking position to a specified position, and then use the propeller shifting component to drive the propeller blades to rotate relative to the output shaft of the motor, so that the propeller blades are folded into a folding area surrounded by a fuselage and two adjacent motors, thereby realizing automatic folding of the propeller blades of the unmanned aerial vehicle; after the propeller blades of the unmanned aerial vehicle are folded, the propeller blades are all folded into the area surrounded by all circumferentially arranged motors, thereby greatly reducing the occupied space of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to an automatic propeller folding device and a propeller folding method for unmanned aerial vehicles. Background Art

[0002] Drones require a lot of space when they are stored, and the area occupied by the propellers of drones is much larger than the area occupied by the drone body. In particular, when using drone automatic hangars to automatically store and charge drones, the volume of the drone automatic hangar must be very large.

[0003] In the prior art, manual methods are mostly used to fold the propeller blades of drones. However, when this propeller folding method is applied to the automatic hangar of drones, manual intervention limits the automated use of drones. Some drones directly make the propeller blades with automatic folding function, but this will inevitably increase the weight and production cost of the drone, and make the structure of the drone more complicated. Summary of the invention

[0004] The object of the present invention is to provide an automatic propeller folding device and a propeller folding method for a drone, which can automatically fold the propeller blades of the drone without changing the structure of the drone.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] An automatic propeller-retracting device for a drone, the drone comprising a fuselage and a plurality of motors distributed along the circumference of the fuselage and connected to the fuselage through propeller arms, the output shaft of each motor being connected to a propeller blade capable of rotating or being fixed relative to the propeller blade, the automatic propeller-retracting device for a drone comprising:

[0007] A centering component, which can drive the drone to move horizontally from a parking position to a specified position;

[0008] A paddle assembly, wherein the paddle assembly can drive the paddles to rotate relative to the output shaft of the motor so that the paddles are retracted into a folding area surrounded by the fuselage and two adjacent motors.

[0009] As a preferred technical solution of the automatic propeller retracting device of the above-mentioned drone, the centering component includes two parallel and spaced first centering arms and two parallel and spaced second centering arms, the first centering arms and the second centering arms are alternately arranged circumferentially to form a placement area, and the drone is placed in the placement area;

[0010] Each of the first centering arms can be horizontally moved toward another of the first centering arms, and each of the second centering arms can be horizontally moved toward another of the second centering arms, so as to push the fuselage to the designated position.

[0011] As a preferred technical solution for the automatic propeller retracting device of the above-mentioned drone, the propeller assembly includes a main propeller unit, and the main propeller unit includes a main propeller arm that can move horizontally and is used to drive the propeller blades to rotate relative to the output shaft of the motor.

[0012] As an optimal technical solution for the automatic propeller retracting device of the above-mentioned drone, the main propeller unit includes two main propeller arms that can move horizontally synchronously, and the distance between the two main propeller arms is greater than the maximum outer diameter of the motor and less than the length of the blade.

[0013] As a preferred technical solution of the automatic propeller retracting device for the above-mentioned drone, the main propeller shifting unit is arranged on the first centering arm and is fixed relative to the first centering arm.

[0014] As a preferred technical solution of the automatic propeller retracting device for the above-mentioned drone, each of the motors is equipped with at least two propeller blades, and the propeller blades on the same motor can be relatively fixed or rotated; the automatic propeller retracting device for the drone also includes:

[0015] A pre-paddle assembly, capable of driving the paddle to rotate relative to the corresponding output shaft of the motor, so that the paddle rotates to a preset paddle position;

[0016] When the paddle is in a preset paddle position, the free end of each paddle is not between the two main paddle arms of the main paddle unit, so that the main paddle arm can drive the paddle to rotate relative to the output shaft of the motor.

[0017] As a preferred technical solution of the automatic propeller retracting device of the above-mentioned drone, the pre-propeller assembly includes a pre-propeller arm, and the pre-propeller arm is arranged on the second centering arm and fixed relative to the second centering arm.

[0018] As a preferred technical solution of the automatic propeller retracting device of the above-mentioned UAV, it also includes:

[0019] A platform, used for placing the drone;

[0020] The lifting drive unit is used to drive the machine to rise and fall so that it is at a paddling height or a centering height. When the machine is at the centering height, the top surface of the main paddling arm and the top surface of the pre-paddling arm are both located below the paddle. When the machine is at the paddling height, the top surface of the main paddling arm and the top surface of the pre-paddling arm are both higher than the lower surface of the paddle.

[0021] The present invention also provides a method for automatically retracting propellers of a drone, using the automatic propeller retracting device for a drone as described in any of the above solutions;

[0022] The centering component drives the drone to move horizontally from a parking position to a designated position;

[0023] The paddle assembly drives the paddles to rotate relative to the output shaft of the motor, so that each of the paddles is retracted into the area surrounded by the fuselage and two adjacent motors.

[0024] As a preferred technical solution for the above-mentioned automatic propeller retraction method of the drone, before the propeller shifting assembly drives the propeller blades to rotate relative to the output shaft of the motor, the pre-propeller shifting assembly drives the propeller blades to rotate relative to the corresponding output shaft of the motor so that the propeller blades rotate to a preset propeller shifting position.

[0025] Beneficial effects of the present invention: The automatic propeller-folding device and propeller-folding method for a drone provided by the present invention first utilize a centering component to drive the drone to move horizontally from a parking position to a designated position, and then utilize a propeller-pumping component to drive the propeller blades to rotate relative to an output shaft of a motor, so that the propeller blades are folded into a folding area surrounded by a fuselage and two adjacent motors, thereby realizing automatic folding of the propeller blades of the drone; after the propeller blades of the drone are folded, the propeller blades are all folded into an area surrounded by all circumferentially arranged motors, thereby greatly reducing the space occupied by the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0027] Figure 1 An automatic propeller retracting device for a drone provided by an embodiment of the present invention;

[0028] Figure 2 The present invention is a flowchart of a method for automatically retracting propellers of a drone provided in an embodiment of the present invention.

[0029] In the figure:

[0030] 11. first centering arm; 111. groove; 12. second centering arm; 13. centering drive;

[0031] 21. Main propeller arm;

[0032] 31. Pre-shift paddle arm;

[0033] 41. fuselage; 42. motor; 43. propeller blades;

[0034] 5. Machine. DETAILED DESCRIPTION

[0035] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the present invention are further described below in conjunction with the accompanying drawings and through specific implementation methods. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the accompanying drawings, not all.

[0036] like Figure 1 As shown, this embodiment provides an automatic propeller folding device for a drone, the drone includes a fuselage 41 and multiple motors 42 distributed circumferentially along the fuselage 41 and connected to the fuselage 41 through propeller arms, the output shaft of each motor 42 is connected to a propeller blade 43 that can rotate or be fixed relative to it, the automatic propeller folding device for the drone includes a centering component and a propeller shifting component, wherein the centering component can drive the drone to move horizontally from a parking position to a specified position; the propeller shifting component can drive the propeller blade 43 to rotate relative to the output shaft of the motor 42, so that the propeller blade 43 is folded into a folding area surrounded by the fuselage 41 and two adjacent motors 42.

[0037] The automatic propeller-retracting device for a drone provided in this embodiment first utilizes a centering component to drive the drone to move horizontally from a parking position to a specified position, and then utilizes a paddle assembly to drive the blades 43 to rotate relative to the output shaft of the motor 42, so that the blades 43 are retracted into a folding area surrounded by the fuselage 41 and two adjacent motors 42, thereby realizing automatic folding of the drone blades 43; after the drone blades 43 are retracted, the blades 43 are all retracted into the area surrounded by all circumferentially arranged motors 42, thereby greatly reducing the space occupied by the drone.

[0038] like Figure 1 As shown, illustratively, the drone includes four motors 42 arranged circumferentially around the fuselage 41, and each motor 42 is equipped with two blades 43. It should be noted that of the two blades 43 equipped with each motor 42, the two blades 43 can rotate relative to each other or can be relatively fixed. Specifically, when one blade 43 rotates relative to the output shaft of the motor 42 due to an external force and the other blade 43 is not subjected to the external force, the blade 43 not subjected to the external force can rotate synchronously with the blade 43 subjected to the external force; when the external force acts on the two blades 43 at the same time, the two blades 43 rotate relative to the output shaft of the motor 42, and there is relative rotation between the two blades 43. The blades 43 on the existing drones already have the above functions, which will not be repeated here.

[0039] Furthermore, the centering component includes two parallel and spaced-apart first centering arms 11 and two parallel and spaced-apart second centering arms 12. The first centering arms 11 and the second centering arms 12 are alternately arranged circumferentially to form a placement area, and the UAV is placed in the placement area; each first centering arm 11 can move horizontally toward another first centering arm 11, and each second centering arm 12 can move horizontally toward another second centering arm 12 to push the fuselage 41 to a designated position.

[0040] Specifically, the centering component also includes a centering drive 13 unit. The first centering arm 11 and the second centering arm 12 are both equipped with a centering drive 13 unit. The centering drive 13 unit can adopt a motor 42 lead screw slider structure, or a motor 42 gear rack structure or other structures in the prior art that can achieve linear motion, which will not be described in detail here.

[0041] When centering the UAV, the two first centering arms 11 are first moved horizontally toward each other by a first preset distance, and then the two second centering arms 12 are moved horizontally toward each other by a second preset distance. After the UAV is centered, the two first centering arms 11 and the two second centering arms 12 are restored to their initial positions.

[0042] It should be noted that the fuselage 41 includes a main body and a landing gear. When the UAV is centered, the first centering arm 11 and the second centering arm 12 mainly act on the landing gear. In other embodiments, the first centering arm 11 and the second centering arm 12 can also act on the main body.

[0043] In this embodiment, the first centering arm 11 and the second centering arm 12 are vertically arranged. It should be noted that in other embodiments, only two first centering arms 11 arranged opposite to each other, or only two second centering arms 12 arranged opposite to each other can be arranged. In this case, one direction is firstly centered, and the drone is rotated to a certain angle before being centered in another direction, or a rotatable frame is added, and the first centering arm 11 or the second centering arm 12 arranged opposite to each other is arranged on the frame, and the frame is rotated to a certain angle before being centered in another direction. A first centering arm 11 and a second centering arm 12 arranged at an angle thereto can also be arranged, and a corresponding positioning platform is added. The first centering arm 11 is used to drive the fuselage 41 to move horizontally to abut against one positioning platform to achieve centering in one direction, and then the second centering arm 12 is used to drive the fuselage 41 to move horizontally to abut against another positioning platform to achieve centering in another direction.

[0044] Further, the paddle assembly includes a main paddle unit, and the main paddle unit includes a main paddle arm 21 that can move horizontally, and is used to drive the paddle 43 to rotate relative to the output shaft of the motor 42. Preferably, the main paddle unit includes two main paddle arms 21 that can move horizontally synchronously, and the distance between the two main paddle arms 21 is greater than the maximum outer diameter of the motor 42 and less than the length of the paddle 43; the paddle 43 has a preset paddle position, and when the paddle 43 is in the preset paddle position, the free end of each paddle 43 is not between the two main paddle arms 21 of the main paddle unit, so that the main paddle arm 21 can drive the paddle 43 to rotate relative to the output shaft of the motor 42. In this embodiment, the main paddle unit is arranged on the first centering arm 11 and is fixed relative to the first centering arm 11. The main paddle unit corresponds to the motor 42 one by one. Specifically, two main paddle units are arranged on each first centering arm 11, and each main paddle unit is used to retract two paddles 43 on one motor 42.

[0045] When the fuselage 41 is moved to the designated position by the centering assembly, when the fuselage 41 is at the designated position, the position of each motor 42 is also determined, so that the motor 42 is located between the two main paddle arms 21 of the corresponding main paddle unit. When the paddle blade 43 is at the preset paddle position, the main paddle unit is driven to move by the first centering arm 11, so that the corresponding two main paddle arms 21 act on the two paddle blades 43 of the motor 42, so that the two paddle blades 43 rotate relative to the output shaft of the motor 42 and the rotation directions are opposite, so that each paddle blade 43 is folded into the corresponding folding area.

[0046] It should be noted that, in other embodiments, a paddle unit may be provided on only one first centering arm 11, and the paddles 43 on two of the motors 42 are first paddled to rotate the UAV to a certain angle or the first centering arm 11 to a certain angle, and then the paddles 43 on the other two motors 42 are paddled.

[0047] Furthermore, the automatic paddle retracting device of the drone further includes a pre-paddle assembly, which can drive the paddle 43 to rotate relative to the output shaft of the corresponding motor 42, so that the paddle 43 rotates to a preset paddle position. Specifically, the pre-paddle assembly includes a pre-paddle arm 31, which is disposed on the second centering arm 12 and fixed relative to the second centering arm 12. Preferably, two pre-paddle arms 31 are provided on each second centering arm 12, and the pre-paddle arms 31 correspond to the motors 42 one by one.

[0048] The second centering arm 12 is utilized to drive the two pre-paddle arms 31 thereon to move, so that each pre-paddle arm 31 pushes a paddle blade 43 on the corresponding motor 42 to rotate, and the other paddle blade 43 on each motor 42 will rotate synchronously, thereby rotating the paddle blade 43 to a preset paddle position, so as to avoid the free end of one of the paddle blades 43 extending between the two main paddle arms 21 of a main paddle unit, so as to cause the main paddle arm 21 to be unable to push the paddle blade 43 to rotate, i.e., paddle failure.

[0049] It should be noted that, in other embodiments, a pre-shifting arm 31 may be provided on only one second centering arm 12, and the blades 43 on two of the motors 42 are pre-shifted first to rotate the drone to a certain angle or the second centering arm 12 to a certain angle, and then the blades 43 on the other two motors 42 are pre-shifted.

[0050] In other embodiments, the paddle shifting assembly can be separated from the first centering arm 11, in which case the paddle shifting assembly needs to have its own power structure. Similarly, the pre-paddle shifting assembly can be separated from the second centering arm 12, in which case the pre-paddle shifting assembly needs to have its own power structure.

[0051] Furthermore, the above-mentioned automatic paddle retracting device for the drone also includes a platform 5 and a lifting drive unit, wherein the platform 5 is used to place the drone; the lifting drive unit is used to drive the platform 5 to rise and fall so that it is at a paddling height or a centering height. When the platform 5 is at the centering height, the top surface of the pre-paddle arm 31 and the top surface of the paddle arm are both located below the paddle 43 to avoid the pre-paddle assembly and the paddle assembly contacting the paddle 43 during the centering process; when the platform 5 is at the paddling height, the top surface of the pre-paddle arm 31 and the top surface of the main paddle arm 21 are both higher than the lower surface of the paddle 43 to ensure that the pre-paddle arm 31 and the main paddle arm 21 can push the paddle 43 to rotate.

[0052] Preferably, when the platform 5 is at the paddle height, the top surface of the paddle arm and the top surface of the pre-paddle arm 31 are both higher than the upper surface of the paddle 43 to improve the stability of the main paddle arm 21 and the pre-paddle arm 31 when pushing the paddle 43 to rotate.

[0053] The platform 5 is driven to move up and down by the lifting drive unit, so that the platform 5 is at the paddle shifting height or the centering height, so as to avoid interference between the paddle shifting process and the centering process.

[0054] Specifically, the lifting drive unit can adopt a linear motor, a motor screw structure, a gear rack structure, an electric push rod or a cylinder and other structures that can realize linear drive, which will not be described in detail here.

[0055] Furthermore, in order to increase the space for placing the drone as much as possible while reducing the space occupied by the entire device, in this embodiment, a vertically penetrating groove 111 is provided on one side of each first centering arm 11 facing the other first centering arm 11 .

[0056] like Figure 2 As shown, this embodiment also provides a method for automatically retracting propellers of a drone, using the above-mentioned automatic propeller retracting device for a drone, comprising the following steps:

[0057] S1. The drone is parked on the platform.

[0058] S2. Drive the machine up and down through the lifting drive unit to make the machine at the center height.

[0059] S3. The centering component moves horizontally to move the drone horizontally from the parking position to the designated position.

[0060] S4. Drive the machine to move up and down through the lifting drive unit so that the machine is at the paddle height.

[0061] S5. The pre-paddle assembly moves horizontally to drive the paddle 43 to rotate relative to the output shaft of the corresponding motor 42, so that the paddle 43 rotates to a preset paddle position.

[0062] S6. The paddle assembly moves horizontally to push the paddle blades 43 to rotate relative to the output shaft of the motor 42, so that each paddle blade 43 is retracted into the area surrounded by the fuselage 41 and two adjacent motors 42.

[0063] After the propellers of the drone are folded, the machine 5 can be raised and lowered to send the drone to a hangar for storing drones.

[0064] It should be noted that the automatic propeller folding device and propeller folding method for the drone provided in this embodiment are also applicable to a drone in which one fuselage 41 is equipped with more motors 42, or one motor 42 is equipped with more propeller blades 43.

[0065] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

[0066] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0067] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. An automatic propeller retracting device for a drone, the drone comprising a fuselage (41) and a plurality of motors (42) distributed along the circumference of the fuselage (41) and connected to the fuselage (41) through propeller arms, the output shaft of each motor (42) being connected to a propeller blade (43) capable of rotating or fixing relative to the output shaft, characterized in that: The automatic propeller retracting device of the UAV comprises: A centering component, which can drive the drone to move horizontally from a parking position to a specified position; a paddle assembly, wherein the paddle assembly is capable of driving the paddle blade (43) to rotate relative to the output shaft of the motor (42), so that the paddle blade (43) is folded into a folding area surrounded by the fuselage (41) and two adjacent motors (42); The centering assembly comprises two first centering arms (11) arranged in parallel and at intervals and two second centering arms (12) arranged in parallel and at intervals, the first centering arms (11) and the second centering arms (12) being alternately arranged in a circumferential direction to form a placement area, and the drone is placed in the placement area; Each of the first centering arms (11) is capable of horizontally moving toward another of the first centering arms (11), and each of the second centering arms (12) is capable of horizontally moving toward another of the second centering arms (12), so as to push the fuselage (41) to the designated position; The paddle assembly comprises a main paddle unit, and the main paddle unit comprises a main paddle arm (21) capable of horizontal movement and used for driving the paddle (43) to rotate relative to the output shaft of the motor (42); The main paddle unit comprises two main paddle arms (21) capable of synchronously moving horizontally, and the distance between the two main paddle arms (21) is greater than the maximum outer diameter of the motor (42) and less than the length of the paddle (43); The main paddle unit is arranged on the first centering arm (11) and is fixed relative to the first centering arm (11).

2. The automatic propeller retracting device for a drone according to claim 1, characterized in that: Each motor (42) is equipped with at least two blades (43), and the blades (43) on the same motor (42) can be relatively fixed or rotated; the automatic blade retracting device for the unmanned aerial vehicle also includes: A pre-paddle assembly capable of driving the paddle (43) to rotate relative to the corresponding output shaft of the motor (42) so that the paddle (43) rotates to a preset paddle position; When the paddle blade (43) is in a preset paddle position, the free end of each paddle blade (43) is not located between the two main paddle arms (21) of the main paddle unit, so that the main paddle arm (21) can drive the paddle blade (43) to rotate relative to the output shaft of the motor (42).

3. The automatic propeller retracting device for a drone according to claim 2, characterized in that: The pre-paddle assembly comprises a pre-paddle arm (31), and the pre-paddle arm (31) is arranged on the second centering arm (12) and fixed relative to the second centering arm (12).

4. The automatic propeller retracting device for a drone according to claim 3, characterized in that: Also includes: A platform (5) for placing the drone; The lifting drive unit is used to drive the machine (5) to be lifted and lowered so that it is at a paddling height or a centering height. When the machine (5) is at the centering height, the top surface of the main paddling arm (21) and the top surface of the pre-paddling arm (31) are both located below the paddle (43). When the machine (5) is at the paddling height, the top surface of the main paddling arm (21) and the top surface of the pre-paddling arm (31) are both higher than the lower surface of the paddle (43).

5. A method for automatically retracting propellers of a drone, characterized in that: An automatic propeller retracting device for a drone as claimed in any one of claims 1 to 4; The centering component drives the drone to move horizontally from a parking position to a designated position; The paddle assembly drives the paddle blades (43) to rotate relative to the output shaft of the motor (42), so that each of the paddle blades (43) is retracted into an area surrounded by the fuselage (41) and two adjacent motors (42).

6. The method for automatically retracting propellers of a drone according to claim 5, characterized in that: Before the paddle assembly drives the paddle (43) to rotate relative to the output shaft of the motor (42), the pre-paddle assembly drives the paddle (43) to rotate relative to the corresponding output shaft of the motor (42), so that the paddle (43) rotates to a preset paddle position.

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