A quadcopter that can be automatically recycled

Abstract

The present invention discloses a four-rotor aircraft capable of automatic recovery, which comprises a housing and four wings. The housing is of a long cylindrical structure with an end wall only provided at one end, and avoidance holes for wing deployment and auxiliary wing folding are provided on the side wall; inside the housing, there is a fixing member for fixing each wing. One end of the fixing member is fixed to the end wall of the housing, and the wings are fixed to the fixing member through connecting members, and the adjacent wings are separated by 90°; each wing comprises an arm, a propeller and a servo fixed on the connecting member. One end of the arm is rotatably connected to the connecting member, and the other end is fixed with a propeller; the servo comprises a worm capable of moving in two opposite directions, and the movement of the worm drives the arm to rotate; inside the housing, there is also a ducted motor for driving the four-rotor aircraft to take off and assisting the four-rotor aircraft to land. The ducted motor is arranged near the end of the housing without an end wall, and a battery pack is arranged between the ducted motor and the fixing member. Both ends of the battery pack are respectively fixed to the fixing member and the ducted motor.

Description

Technical Field

[0001] The present invention relates to the field of quadrotor aircraft, and particularly to a quadrotor aircraft that can be automatically recovered. Background Art

[0002] Quadrotor aircraft, also known as quadrotor drones, occupy an important position among various types of drones due to their outstanding features such as simple structure and easy operation.

[0003] An existing quadrotor drone, such as a quadrotor drone disclosed in a Chinese patent with publication number CN109305350A, includes a rotor mechanism, a central control shell composed of a top cover, a bottom plate, and a rectangular shell, a fixing ring installed on the lower surface of the top cover through two symmetrically distributed fixing plates, a servo motor installed on the lower surface of the top cover, a first rotating cylinder installed in the inner circular surface of the fixing ring through a bearing, a second rotating cylinder with two guide blocks symmetrically installed on the outer cylindrical surface, a spring, an adjusting rod, a guide key, a fixing cylinder with two key grooves symmetrically opened on the inner cylindrical surface, an adjusting ring with four notches circumferentially and evenly opened on the outer circular surface, and a connecting plate. Among them, rectangular grooves are opened through on the four surfaces of the rectangular shell; the servo motor is located between the two fixing plates; the motor shaft of the servo motor is fixedly connected to the outer cylindrical bottom surface of the first rotating cylinder; two guide grooves are symmetrically opened on the inner cylindrical surface of the first rotating cylinder; the second rotating cylinder is installed in the first rotating cylinder in a sliding fit manner; one end of the spring is installed on the outer cylindrical bottom surface of the second rotating cylinder, and the other end is installed on the inner cylindrical bottom surface of the first rotating cylinder; the two guide blocks are respectively installed in the two guide grooves in a sliding fit manner; the inner cylindrical surface of the second rotating cylinder has an internal thread; one end of the adjusting rod has an external thread on the outer circular surface, and two guide keys are symmetrically installed on the outer circular surface at the other end; the two guide keys are respectively installed in the two key grooves of the fixing cylinder in a sliding fit manner; the end of the adjusting rod with the guide key slides in the fixing cylinder; the external thread on the adjusting rod is in threaded fit with the internal thread on the second rotating cylinder; the adjusting ring is fixedly installed on the adjusting rod, and the adjusting ring is located between the external thread and the guide key on the adjusting rod; one end of each of the four connecting plates is respectively installed in the four notches of the adjusting ring through pins.

[0004] Another example is the flip - type quad - rotor UAV disclosed in a Chinese patent with the publication number CN112441222A. It mainly consists of a fuselage, a flip device and a power module. The flip device is installed on the fuselage and connected to the power module. The power module includes: a propeller, a brushless motor, and an electronic speed controller; the propeller is installed on the rotating shaft of the brushless motor, and the bottom of the brushless motor is connected to the connecting block of the flip device; the flip device includes a connecting block, a servo motor, and a bearing; the plane at the right end of the connecting block is connected to the rotating shaft of the servo motor through a bearing, the base of the connecting block is connected to the brushless motor, and the protruding part at the lower part of the connecting block is used to balance with the brushless motor. The rotation of the servo motor drives the brushless motor to rotate around its rotating shaft through the connecting block; the fuselage mainly includes: a central gimbal and arms. Servo motors and electronic speed controllers are respectively installed on the four arms, and the brushless motors and the flip devices are symmetrically distributed.

[0005] The above - mentioned quad - rotor UAVs disclosed in the patents all have problems such as the need for manual deployment of the wings during take - off, slow take - off speed, large floor area, slow speed during recovery, and easy damage to the wings. Summary of the Invention

[0006] To solve the problems existing in the prior art, the present invention discloses an automatically recoverable quad - rotor aircraft.

[0007] An automatically recoverable quad - rotor aircraft, comprising a housing and four wings. The housing is a long - tube - shaped structure with only one end provided with an end wall, and there are avoidance holes on the side wall for wing deployment and auxiliary wing folding; inside the housing, there are fixing members for fixing each wing. One end of the fixing member is fixed to the end wall of the housing, and the wings are fixed to the fixing members through connecting members, and the adjacent wings are separated by 90°;

[0008] The wing includes an arm, a propeller, and a servo motor fixed on the connecting member. One end of the arm is rotatably connected to the connecting member, and the other end is fixed with a propeller; the servo motor includes a worm that can move in two opposite directions, and the movement of the worm drives the arm to rotate;

[0009] Inside the housing, there is also a ducted fan motor for driving the quad - rotor aircraft to take off and assisting the quad - rotor aircraft to land. The ducted fan motor is arranged near the end of the housing without an end wall. There is a battery pack between the ducted fan motor and the fixing member, and both ends of the battery pack are fixed to the fixing member and the ducted fan motor respectively.

[0010] Specifically, since the casing is in the shape of a long cylinder, the entire quadrotor aircraft is in the shape of a long cylinder. A ducted fan motor is provided at one end of the casing without an end wall. Therefore, when the quadrotor aircraft is installed in a launch tube equipped with an air intake device, starting the ducted fan motor can complete the launch process of the quadrotor aircraft. After launching the quadrotor aircraft, start the servo motor. The worm of the servo motor rotates forward to drive the wings to unfold. Then, the brushless motor drives the folding blades to rotate and then turn off the ducted fan motor. The movement of the quadrotor aircraft can be controlled by controlling the rotation speed of the folding blades. When the quadrotor aircraft completes the data collection work, control the rotation of the folding blades to make the quadrotor aircraft reach above the recovery area. At this time, turn off the brushless motor. The worm of the servo motor rotates in reverse to fold the wings. Start the ducted fan motor and control the rotation speed of the ducted fan motor to make the quadrotor aircraft descend slowly until the quadrotor aircraft is recovered and then turn off the ducted fan motor, completing the automatic recovery process of the quadrotor aircraft.

[0011] During the folding process of the wings, the reverse rotation of the worm drives the arm to be received in the casing. Since the brushless motor is turned off, the folding blades will gradually slow down their rotation speed under the action of inertia. After the arm is folded inside the casing, the folding blades will interfere with the wall of the avoidance hole, and the force exerted by the wall of the avoidance hole causes the folding blades to complete the folding.

[0012] In addition, since the entire quadrotor aircraft is in the shape of a long cylinder, the land area required for launching is very small, which is suitable for scenarios with limited working land area such as offshore bases.

[0013] Preferably, the fixing member includes a fixing block and four fixing rods. One end of each fixing rod is fixed to the end wall, and the other end of each fixing rod is fixed to the fixing block. The fixing block is parallel to the end wall; each connecting member is fixed to two fixing rods.

[0014] Specifically, the quadrotor aircraft has four evenly distributed wings, and this structure facilitates the fixing of the wings.

[0015] Preferably, the connecting member includes a connecting block and four connecting rods. One end of the four connecting rods is perpendicularly fixed to the fixing rod and the other end is detachably connected to the connecting block. The connecting block is located outside the fixing member;

[0016] Two of the four connecting rods are fixed to one fixing rod, and the other two are fixed to an adjacent fixing rod; the connecting block is provided with a connecting notch for movably connecting the wings.

[0017] Preferably, it further includes a rotating member rotatably connected to the connecting notch. The arm of the wing is fixed to the rotating member, and the worm is movably fixed to the rotating member; both ends of the rotating member are movably fixed to the opposite side walls of the connecting notch.

[0018] Preferably, the rotation angle of the rotating member is 0-90°.

[0019] Specifically, the rotation angle of the rotating member is 0-90°, that is, the deployment angle of the arm is 0-90°. Therefore, when the quadcopter is working, if it encounters an obstacle, the deployment angle of the arm can be adjusted to adjust the arm span, facilitating the quadcopter to avoid the obstacle.

[0020] Preferably, the servo is detachably connected to the connecting block, and the servo is arranged on the side of the connecting block close to the fixing member.

[0021] Specifically, this structure makes the structure of the whole quadcopter more compact on the one hand, which is beneficial to further reducing the volume of the quadcopter, and on the other hand, it can prevent the servo from interfering with the arm and having a negative impact on the smoothness of the arm deployment.

[0022] Preferably, the propeller includes folding blades, a brushless motor for driving the folding blades, and a motor base. The motor base is fixed to the arm, and the brushless motor is fixed on the motor base.

[0023] Specifically, the brushless motor has outstanding advantages such as small volume, large power, low energy consumption, stable operation and long service life. Therefore, it is suitable to use the brushless motor to drive the rotation of the folding blades.

[0024] Preferably, it further includes a controller, and the controller is wirelessly connected to the ducted fan motor, the servo and the brushless motor.

[0025] Preferably, it further includes a weather station for collecting meteorological information, and the weather station is fixed outside the end wall.

[0026] Specifically, in this structure, the quadcopter is used to collect meteorological information, especially to collect profile meteorological data.

[0027] Compared with the prior art, the advantages of the present invention are as follows:

[0028] The whole quadcopter is set as a long tube shape, and a ducted fan motor is arranged at one end. On the one hand, the ducted fan motor can launch the quadcopter so that the quadcopter can quickly approach the destination. On the other hand, it can enable the quadcopter to still land slowly after the wings are folded in the air, maximizing the prevention of damage to the quadcopter during the recovery process; at the same time, under the drive of the servo, the wings can realize the process of automatically deploying and folding in the air. Combining with the structure of the ducted fan motor, it maximizes the prevention of damage to the wings during the recovery process; in addition, the arm span of the quadcopter in the shape of a square in the prior art is 4-5 times that of the quadcopter provided by this solution. The quadcopter provided by this solution is more suitable for sites with small floor areas such as offshore bases. Brief Description of the Drawings

[0029] Figure 1 It is a schematic diagram of the unfolded wings of the automatically recoverable quadrotor aircraft disclosed in the invention;

[0030] Figure 2 It is a schematic diagram of the unfolded wings and without the housing of the automatically recoverable quadrotor aircraft disclosed in the invention;

[0031] Figure 3 It is a schematic diagram of the unfolded wings of the automatically recoverable quadrotor aircraft disclosed in the invention;

[0032] Figure 4 It is a schematic diagram of the unfolded wings and without the housing of the automatically recoverable quadrotor aircraft disclosed in the invention. Detailed Description of the Invention

[0033] The present invention will be further described below in conjunction with the drawings and specific embodiments.

[0034] As shown in Figure 1 、 3 An automatically recoverable quadrotor aircraft includes a housing 10 and four wings 20. The housing 10 is a long cylindrical structure with only one end provided with an end wall, and there are avoidance holes 11 on the side wall for the wings 20 to unfold and assist in folding the wings 20;

[0035] As shown in Figure 2 、 4 Inside the housing 10, there are fixing members for fixing each wing 20. One end of the fixing member is fixed to the end wall of the housing 10, and the wing 20 is fixed to the fixing member through a connecting member. The adjacent wings 20 are separated by 90°;

[0036] The wing 20 includes an arm 21, a propeller, and a servo 23 fixed to the connecting member. One end of the arm 21 is rotatably connected to the connecting member, and the other end is fixed with a propeller; the servo 23 includes a worm that can move in two opposite directions, and the movement of the worm drives the arm 21 to rotate;

[0037] Inside the housing 10, there is also a ducted fan motor 50 for driving the quadrotor aircraft to take off and assisting the quadrotor aircraft to land. The ducted fan motor 50 is arranged near the end of the housing 10 without an end wall. There is a battery pack 60 between the ducted fan motor 50 and the fixing member, and both ends of the battery pack 60 are fixed to the fixing member and the ducted fan motor 50 respectively.

[0038] The fixing member includes a fixing block 32 and four fixing rods 31. One end of each fixing rod 31 is fixed to the end wall, and the other end of each fixing rod 31 is fixed to the fixing block 32. The fixing block 32 is parallel to the end wall; each connecting member is fixed to two fixing rods 31.

[0039] The connecting piece includes a connecting block 42 and four connecting rods 41. One end of the four connecting rods 41 is perpendicularly and fixedly connected to the fixed rod 31, and the other end is detachably connected to the connecting block 42. The connecting block 42 is located outside the fixing member.

[0040] Two of the four connecting rods 41 are fixed on one fixed rod 31, and the other two are fixed on an adjacent fixed rod 31; a connecting notch 43 for movably connecting the wing 20 is provided on the connecting block 42.

[0041] It further includes a rotating member 70 rotatably connected to the connecting notch 43. The arm 21 of the wing 20 is fixed on the rotating member 70, and the worm is movably fixed to the rotating member 70; both ends of the rotating member 70 are movably fixed to the opposite side walls of the connecting notch 43.

[0042] The rotation angle of the rotating member 70 is 0 - 90°.

[0043] The rotation angle of the rotating member 70 is 0 - 90°, that is, the deployment angle of the arm 21 is 0 - 90°. Therefore, when the quadcopter is working, if it encounters an obstacle, the deployment angle of the arm 21 can be adjusted to adjust the armspan, facilitating the quadcopter to avoid the obstacle.

[0044] The servo 23 is detachably connected to the connecting block 42, and the servo 23 is arranged on the side of the connecting block 42 close to the fixing member.

[0045] This structure makes the structure of the entire quadcopter more compact on the one hand, which is conducive to further reducing the volume of the quadcopter. On the other hand, it can prevent the servo 23 from interfering with the arm 21 and having a negative impact on the smoothness of the deployment of the arm 21.

[0046] The propeller includes a folding blade 24, a brushless motor 25 for driving the folding blade 24, and a motor base 26. The motor base 26 is fixed to the arm 21, and the brushless motor 25 is fixed on the motor base 26.

[0047] The brushless motor 25 has outstanding advantages such as small volume, large power, low energy consumption, stable operation and long service life. Therefore, it is appropriate to use the brushless motor 25 to drive the rotation of the folding blade 24.

[0048] It further includes a controller, which is wirelessly connected to the ducted fan motor 50, the servo 23, and the brushless motor 25.

[0049] It further includes a weather station 80 for collecting meteorological information. The weather station 80 is fixed on the outside of the end wall.

[0050] In this structure, the quadcopter is used to collect meteorological information, especially to collect profile meteorological data.

[0051] During specific use, since the housing 10 is in the shape of a long cylinder, the entire quadcopter is in the shape of a long cylinder. A ducted fan motor 50 is provided at one end of the housing 10 without an end wall. Therefore, the quadcopter is installed in a launch tube equipped with an air intake device. Starting the ducted fan motor 50 can complete the launch process of the quadcopter. After launching the quadcopter, the servo 23 is started. The worm of the servo 23 rotates forward to drive the wings 20 to unfold. The brushless motor 25 then drives the folding blades 24 to rotate and then the ducted fan motor 50 is turned off. The movement of the quadcopter can be controlled by controlling the rotation speed of the folding blades 24. When the quadcopter completes the data collection work, the quadcopter is controlled to be above the recovery location by controlling the rotation of the folding blades 24. At this time, the brushless motor 25 is turned off. The worm of the servo 23 rotates in reverse to fold the wings 20. The ducted fan motor 50 is started. By controlling the rotation speed of the ducted fan motor 50, the quadcopter slowly descends until the quadcopter is recovered and then the ducted fan motor 50 is turned off, completing the automatic recovery process of the quadcopter.

[0052] During the folding process of the wings 20, the reverse rotation of the worm drives the arm 21 to be retracted into the housing 10. Since the brushless motor 25 is turned off, the folding blades 24 will gradually slow down their rotation speed under the action of inertia. After the arm 21 is folded inside the housing 10, the folding blades 24 will interfere with the hole wall of the avoidance hole 11, and the force exerted by the hole wall of the avoidance hole 11 causes the folding blades 24 to complete folding.

[0053] In addition, since the entire quadcopter is in the shape of a long cylinder, the land area required for launching is very small, making it suitable for scenarios with limited working land area such as offshore bases.

Claims

1. A four-rotor aircraft capable of automatic recycling, comprising a fuselage and four wings, characterized in that, The housing is a long cylindrical structure with an end wall provided only at one end, and avoidance holes for wing deployment and auxiliary wing folding are provided on the side wall; a fixing member for fixing each wing is provided inside the housing, one end of the fixing member is fixed to the end wall of the housing, the wing is fixed to the fixing member through a connecting member, and the adjacent wings are separated by 90°; The wing includes an arm, a propeller, and a servo fixed to the connecting member. One end of the arm is rotatably connected to the connecting member, and the other end is fixed with a propeller; the servo includes a worm that can move in two opposite directions, and the movement of the worm drives the arm to rotate; A ducted fan motor for driving the quadcopter to take off and assisting the quadcopter to land is further provided inside the housing. The ducted fan motor is arranged near the end of the housing without an end wall. A battery pack is provided between the ducted fan motor and the fixing member, and both ends of the battery pack are respectively fixed to the fixing member and the ducted fan motor.

2. The automatically recoverable quadcopter according to claim 1, wherein, The fixing member includes a fixing block and four fixing rods. One end of each fixing rod is fixed to the end wall, and the other end of each fixing rod is fixed to the fixing block. The fixing block is parallel to the end wall; each connecting member is fixed to two fixing rods.

3. The automatically recoverable quadrotor aircraft according to claim 2, wherein The connecting member includes a connecting block and four connecting rods. One end of the four connecting rods is perpendicularly fixed to the fixing rod and the other end is detachably connected to the connecting block. The connecting block is located outside the fixing member; Two of the four connecting rods are fixed to one fixing rod, and the other two are fixed to an adjacent fixing rod; a connecting notch for movably connecting the wing is provided on the connecting block.

4. The automatically recoverable quadcopter according to claim 3, wherein It further includes a rotating member rotatably connected to the connecting notch. The arm of the wing is fixed to the rotating member, and the worm is movably fixed to the rotating member; both ends of the rotating member are respectively movably fixed to the opposite side walls of the connecting notch.

5. The automatically recoverable quadcopter according to claim 4, wherein The rotation angle of the rotating member is 0 - 90°.

6. The automatically recoverable quadrotor aircraft according to claim 4, wherein, The servo is detachably connected to the connecting block, and the servo is arranged on the side of the connecting block close to the fixing member.

7. The automatically recoverable quadrotor aircraft according to claim 1, wherein The propeller includes a folding blade, a brushless motor for driving the folding blade, and a motor base. The motor base is fixed to the arm, and the brushless motor is fixed to the motor base.

8. The automatically recoverable quadrotor aircraft according to claim 7, wherein, It further includes a controller, and the controller is wirelessly connected to the ducted fan motor, the servo, and the brushless motor.

9. The automatically recoverable quadcopter according to claim 1, wherein It further includes a weather station for collecting meteorological information, and the weather station is fixed outside the end wall.

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