A self-deployable micro propeller drone

Abstract

The present invention discloses a self-deployable micro-propeller drone, comprising a flight power system, a drone body, a landing system, a folding and unfolding device, a control circuit, and a battery. The flight power system includes a propeller and a motor, the drone body includes a fuselage and a vertical tail, the landing system includes a support frame and wheels, and the folding and unfolding device includes a locking device, an unfolding device, and a limiting device. When the drone is not in use, the propeller in the flight power system, the vertical tail in the drone body, and the support frame in the landing system are all in a folded state. When in use, the folding and unfolding device automatically unfolds the vertical tail and support frame and fixes them in a vertical state. The propeller automatically unfolds under the centrifugal force generated by the rotation of the motor and automatically returns to the folded state under the action of a spring after stopping. This design enables the drone to automatically unfold, and the folded state saves a lot of space compared to the unfolded state, greatly improving transportability and portability.

Description

Technical Field

[0001] The invention belongs to the field of unmanned aerial vehicles (UAVs), in particular to a self-deployable micro propeller UAV. Background Art

[0002] Drones have a wide range of applications in military, civilian, and commercial sectors. In the military, drones can be used for reconnaissance, intelligence gathering, target identification, and strike missions, minimizing risks to pilots. In the civilian sector, drones can be used for aerial photography, power inspections, agricultural monitoring, meteorological research, and emergency rescue. Based on their flight mode, drones can be categorized as fixed-wing, multi-rotor, and flapping-wing. With the rapid development of both the civilian and commercial sectors, multi-rotor drones are becoming increasingly popular, with many foldable models emerging, greatly improving portability. Common folding methods for fixed-wing drones involve changing the wing sweep angle or using motors and gears to deform the wings. While these methods can reduce the space occupied by the wings and improve space utilization, they are relatively complex. Furthermore, the smaller size of micro fixed-wing drones precludes the addition of complex components to achieve folding and unfolding. Therefore, designing folding and unfolding structures for micro fixed-wing drones, enabling them to fold completely to their smallest configuration and automatically maintain a certain level of structural rigidity after unfolding, is a future trend. The smaller the space occupied by a drone in its folded state, the more drones can be transported within limited spaces. Summary of the Invention

[0003] The purpose of the present invention is to provide a self-deployable micro propeller drone. When not in use, the drone is completely folded and in a flat state, which is convenient for carrying or large-scale transportation. When in use, it can be automatically unfolded and automatically fixed in the unfolded state with one button. The unfolded drone can be directly thrown into flight manually. The drone in the folded state saves a lot of space compared to the unfolded state, and can be deployed for large-scale transportation or hidden transportation.

[0004] The technical solutions for achieving the purpose of the present invention are:

[0005] A self-deployable micro propeller drone, comprising a drone body, a flight power system, a landing system, and a folding and unfolding device;

[0006] The UAV body comprises a fuselage and a vertical tail; the vertical tail is arranged on both sides of the upper part of the fuselage;

[0007] The landing system includes a support frame and wheels arranged on the support frame, wherein there are three support frames and they are installed on the lower surface of the fuselage in a "one in front and two in the back" layout;

[0008] The landing system is connected to the fuselage through a folding and unfolding device; the folding and unfolding device includes a locking device, an unfolding device and a limiting device; the vertical tail and the support frame are both connected to the fuselage through the unfolding device, fixed to the fuselage in a folded state through the locking device, and fixed in a vertical state through the limiting device after unfolding.

[0009] Compared with the prior art, the present invention has the following significant advantages:

[0010] (1) The drone in the folded state can be unfolded with one click by the program and automatically fixed in the unfolded state by the program. It can also withstand a certain external force, thereby improving the overall structural stiffness of the drone after unfolding.

[0011] (2) The folded state of the drone does not require the constraints of an external shell or cylinder. The locking and unlocking can be achieved by relying on internal devices, thereby realizing the transition of the drone from the folded state to the unfolded state, getting rid of the defect that common drones need external devices to constrain them.

[0012] (3) When folded, the drone is approximately a flat plate, which can save a lot of space compared to the unfolded state, greatly improving space utilization. When not in use, it is in a flat plate state and can be carried in batches or concealed, thus getting rid of the defect of common fixed-wing drones that are difficult to carry.

[0013] (4) Due to the small size of the drone, it can be taken off directly by hand, which gets rid of the defect that common fixed-wing drones need an external launcher to launch. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a three-dimensional schematic diagram of the drone in a folded state.

[0015] Figure 2 This is a three-dimensional schematic diagram of the drone in the unfolded state.

[0016] Figure 3 This is a three-dimensional schematic diagram of the flight power system in the unfolded state.

[0017] Figure 4 This is a frontal schematic diagram of the flight power system, drone body and landing system after they are fully deployed.

[0018] Figure 5 This is a side schematic diagram of the flight power system, drone body and landing system after they are fully deployed.

[0019] Figure 6 This is a side view of the drone in a folded state.

[0020] Figure 7 A three-dimensional schematic diagram of the drone landing system.

[0021] Figure 8 This is a partial enlarged view of the vertical tail and fuselage fixed in a vertical state through a folding device.

[0022] Figure 9 It is a schematic diagram of the limiting device in the folding and unfolding device and a partial enlarged diagram.

[0023] Figure 10 The overall process of using drones. DETAILED DESCRIPTION

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] Combine Figure 1-10 The present invention designs a self-deployable micro propeller drone, including a flight power system 1, a drone body 2, a landing system 3, a folding and unfolding device 4, a controller 5, and a battery 6; the flight power system 1 and the folding and unfolding device 4 are both controlled by the controller 5, and the controller 5 is powered by the battery 6; the drone is wirelessly connected to a ground remote control 7 through the controller 5; the drone is initially in a folded state and is in an unfolded state when in use.

[0026] Combine Figure 1-Figure 3 The flight power system 1 includes a propeller 1-1 and a motor 1-2. The propeller 1-1 is composed of foldable blades 1-1-1 and 1-1-2, a blade clamp 1-1-3, and a spring 1-1-4. The two foldable blades 1-1-1 and 1-1-2 are installed on the blade clamp 1-1-3 through an axis. The spring 1-1-4 is wound around the root of the propeller 1-1. The elastic force of the spring 1-1-4 is used to constrain the propeller 1-1 in a folded state. After the production is completed, the flight power system 1 will be in a folded state. The motor 1-2 is energized to drive the propeller 1-1 to rotate and generate centrifugal force. When the centrifugal force is greater than the spring 1 -1-4 elastic force, the foldable blades 1-1-1 and 1-1-2 will be unfolded under the action of centrifugal force; when the motor 1-2 is powered off, the centrifugal force generated is less than the spring elastic force, and the foldable blades 1-1-1 and 1-1-2 will return to the folded state under the action of the spring 1-1-4 elastic force; the flight power system 1 is installed at the front of the symmetrical plane of the fuselage 2-1 by glue, and the flight power system 1 is connected to the controller 5, and the controller 5 is wirelessly connected to the ground remote control 7. The ground remote control 7 includes a throttle push rod 7-1 and a direction push rod 7-2. Pushing the throttle push rod 7-1 can remotely control the speed of the motor 1-2.

[0027] Combine Figure 1-2 、 Figure 4-5 The drone body 2 includes a fuselage 2-1 and a vertical tail 2-2. The drone adopts a flying wing layout with wing-body fusion. The vertical tail 2-2 is arranged on both sides of the upper part of the fuselage 2-1 and can be folded on the surface of the fuselage 2-1; the vertical tail 2-2 has a rectangular cross-section and has a certain thickness. After unfolding, it can be perpendicular to the fuselage.

[0028] Combine Figure 4-7 The landing system 3 includes a support frame 3-1 and wheels 3-2 arranged on the support frame 3-1. There are three support frames 3-1 and they adopt a "one in front and two in the back" layout. They are symmetrically installed on the lower surface of the fuselage 2-1 with respect to the symmetry plane of the fuselage to ensure that the overall center of gravity of the drone is on the symmetry plane of the drone body 2 after installation; the support frames 3-1 can be folded on the lower surface of the fuselage 2-1; the cross-section of the support frames 3-1 is rectangular and has a certain thickness. When unfolded, they can be perpendicular to the fuselage.

[0029] Combine Figure 2 、 Figure 8-9 The folding and unfolding device 4 includes a locking device 4-1, an unfolding device 4-2 and a limiting device 4-3; the vertical tail 2-2 and the support frame 3-1 are connected to the fuselage 2-1 through the unfolding device 4-2, and can be kept in a folded state by an electromagnet 4-1-1 and fixed in a vertical state by the limiting device 4-3;

[0030] The specific scheme of the folding and unfolding device 4 is as follows: the locking device 4-1 includes an electromagnet 4-1-1 and a metal disc 4-1-2, the electromagnet 4-1-1 is installed on the fuselage, and the metal disc 4-1-2 is installed at the corresponding positions of the vertical tail 2-2 and the support frame 3-1. The vertical tail 2-2 and the support frame 3-1 on the same side of the fuselage (left or right) can share one electromagnet 4-1-1; the electromagnet 4-1-1 has two states of power on and power off under the control of the controller 5, generating magnetism when powered on and losing magnetism when powered off; the unfolding device 4-2 includes a torsion spring 4-2-1 and a hinge 4-2-2, both of which are installed inside the vertical tail 2-2 and the support frame 3-1; the vertical tail 2-2 and the support frame 3-1 are connected to the fuselage through the hinge 4-2-2. A torsion spring 4-2-1 is provided on the axis of the hinge 4-2-2, and the torsion spring 4-2-1 has the driving force to open the vertical tail 2-2 and the support frame 3-1; the limit device 4-3 comprises a low melting point alloy 4-3-1, a PCB board 4-3-2, a heater 4-3-3, a pressure sensor 4-3-4 and a temperature sensor 4-3-5; the low melting point alloy 4-3-1 has a melting point of 40-70°C, and the specific materials include indium bismuth tin alloy (melting point is 57°C) and tin bismuth alloy (melting point is 70°C); the PCB board 4-3-2 is embedded in the surface of the fuselage 2-1, and is installed at the connection position between the vertical tail 2-2 and the fuselage 2-1 and the connection position between the support frame 3-1 and the fuselage 2-1, and two low melting point alloys are symmetrically installed on the PCB board 4-3-2. The low-melting-point alloy 4-3-1, two heaters 4-3-3, a pressure sensor 4-3-4 and two temperature sensors 4-3-5 are connected to the PCB board 4-3-2 and the controller 5; the heater 4-3-3 is used to heat the low-melting-point alloy 4-3-1 by increasing the temperature. Specifically, a polyimide heating film or a resistor can be used. The polyimide heating film and the resistor can generate heat after being energized. In this embodiment, a polyimide heating film is used as the heater 4-3-3; the pressure sensor 4-3-4 is a thin film sensor, which is installed on the PCB board and kept at a certain distance from the heater 4-3-3 to prevent damage from overheating. It can detect the pressure exerted by the vertical tail 2-2 and the support frame 3-1 under the action of the torsion spring 4-2-1. When the sensor is subjected to pressure, the output of the high and low level changes can be used to detect whether the vertical tail 2-2 and the support frame 3-1 are fully deployed to the vertical state; the temperature sensor 4-3-5 is installed on the heater 4-3-3, can withstand high temperatures, and is mainly used to detect the temperature of the heater 4-3-3; after the controller 5 collects the level change signal from the pressure sensor 4-3-4, it controls the heater 4-3-3 to be powered on for 10 seconds and then heat it to above 100°C, and the low-melting-point alloy 4-3-1 will melt due to the heat; when the temperature of the temperature sensor 4-3-5 reaches the program-set temperature of 100°C, it generates a level change signal, and after detecting the level change signal, the controller 5 cuts off the power to the heater 4-3-3, and the low-melting-point alloy 4-3-1 will cool and solidify.

[0031] The following details the process of maintaining the vertical tail 2-2 and the support frame 3-1 of the UAV in the folded state and the process of automatically unfolding and fixing them in the vertical state:

[0032] Combine Figure 1-2 , the controller 5 is provided with key switches 5-1 and 5-2, the controller 5 is installed inside the fuselage 2-1, and the key switches 5-1 and 5-2 are exposed on the surface of the fuselage 2-1; a control program is written and downloaded to the controller 5, and the specific functions of the program include: the key switch 5-1 is an emergency switch for controlling the power supply of the power supply 6 to the controller 5, and is used to cut off the power supply to all circuits in an emergency; the key switch 5-2 is used to control the electromagnet 4-1-1 to energize in order to keep the vertical tail 2-2 and the support frame 3-1 in the folded state when the key switch 5-2 is pressed for the first time, and the vertical tail 2-2 and the support frame 3-1 in the folded state can be released and fixed in the vertical state when the drone needs to be unfolded by pressing it again;

[0033] The specific control process for the vertical tail 2-2 and the support frame 3-1 to maintain the initial folded state is as follows:

[0034] Manually fold the vertical tail 2-2 and the support frame 3-1 and maintain them in the folded state. Press the button switch 5-2. After the electromagnet 4-1-1 is energized, it connects with the metal disc 4-1-2 installed on the vertical tail 2-2 and the support frame 3-1, thereby maintaining the vertical tail 2-2 and the support frame 3-1 in the folded state.

[0035] The automatic deployment of the vertical tail 2-2 and the support frame 3-1, and the auxiliary limiting and fixing in the vertical state are all controlled by the controller 5. The specific control process is as follows:

[0036] After pressing the button switch 5-2, the electromagnet 4-1-1 is powered off, and the vertical tail 2-2 and the support frame 3-1 are simultaneously and rapidly deployed within 1 second under the action of their respective torsion springs 4-2-1; at this time, the vertical tail 2-2 and the support frame 3-1 will each remain in a state perpendicular to the fuselage 2-1, and under the action of the torsion spring 4-2-1, the vertical tail 2-2 and the support frame 3-1 will each apply pressure to the pressure sensor 4-3-4 at the connection position, and the pressure sensor 4-3-4 will generate high and low level signals. The controller 5 obtains the high and low level signals from the pressure sensor 4-3-4, and then starts to execute the program for fixing the vertical tail 2-2 and the support frame 3-1. The heater 4-3-3 is set to be powered on for more than 10 seconds in the program. When the temperature is high, the controller 5 will start to execute the program for fixing the vertical tail 2-2 and the support frame 3-1. When the temperature sensor 4-3-5 detects that the temperature of the heater 4-3-3 is above 100°C, the controller 5 immediately cuts off the power to the heater 4-3-3; the low-melting-point alloy 4-3-1 gradually melts during the heating process and begins to cool after the power is cut off. Under the auxiliary elastic force of the torsion spring 4-2-1, the vertical tail 2-2 and the support frame 3-1 will be fixed in a vertical state after the low-melting-point alloy 4-3-1 cools; thereby, the vertical tail 2-2 and the support frame 3-1 are automatically deployed and fixed in a vertical state at the same time under the control of the key switch 5-2. After being fixed, the vertical tail 2-2 and the support frame 3-1 can withstand a certain external force, thereby improving the structural rigidity of the UAV after automatic deployment;

[0037] Combine Figure 10 , the overall process of using drones is as follows:

[0038] Hold the drone and press the button switch 5-2, the vertical tail 2-2 and the support frame 3-1 will quickly unfold at the same time. After unfolding to the vertical state, the fixing program will be automatically executed to fix the vertical tail 2-2 and the support frame 3-1 in the vertical state, thereby completing the automatic deployment of the drone body 2 and the landing system 3; before takeoff, the controller 5 is wirelessly connected to the ground remote control 7, and the flight power system 1 is controlled by the ground remote control 7. Push the remote control throttle push rod 7-1 to power the flight power system 1, and the motor 1-2 drives the propeller 1-1 to rotate to generate centrifugal force to overcome the spring force. The propeller 1-1 is quickly unfolded under the action of centrifugal force; after completing the above process, the drone can be manually thrown at a certain angle of attack.

Claims

1. A self-deployable micro propeller drone, comprising a drone body, a flight power system, a landing system, and a folding and unfolding device; characterized in that: The UAV body comprises a fuselage and a vertical tail; the vertical tail is arranged on both sides of the upper part of the fuselage; The landing system includes a support frame and wheels mounted on the support frame. There are three support frames and they are mounted on the lower surface of the fuselage in a "one in front and two in the back" layout. The landing system is connected to the fuselage via a folding and unfolding device; the folding and unfolding device includes a locking device, an unfolding device, and a limiting device; the vertical tail and support frame are both connected to the fuselage via the unfolding device, fixed to the fuselage in a folded state via the locking device, and fixed in an upright state via the limiting device after unfolding; The locking device comprises an electromagnet and a metal sheet; the electromagnet is mounted on the fuselage, and the metal sheet is mounted on the vertical tail and the support frame; the vertical tail and the support frame on the same side of the fuselage share one electromagnet; when the electromagnet is energized, the electromagnet and the metal sheet are attracted to each other, and the vertical tail and the support frame are folded relative to the fuselage; when the power is off, the vertical tail and the support frame are unfolded under the action of the unfolding device; The deployment device includes a torsion spring and a hinge. The vertical tail and the support frame are connected to the fuselage via the hinge. A torsion spring is provided on the axis of the hinge. The torsion spring has a driving force to open the vertical tail and the support frame. The limiting device includes a low-melting-point alloy, a PCB board, a heater, a pressure sensor and a temperature sensor; the PCB board is embedded in the surface of the fuselage and is installed at the connection position between the vertical tail and the fuselage and the connection position between the support frame and the fuselage. Two low-melting-point alloys, two heaters, a pressure sensor and two temperature sensors are symmetrically installed on the PCB board; the PCB board is connected to the controller; the heater is used to heat the low-melting-point alloy, and the pressure sensor is used to detect the pressure applied by the vertical tail and the support frame under the action of the torsion spring. After the sensor is subjected to pressure, it outputs high and low level changes to detect whether the vertical tail and the support frame are fully unfolded to a vertical state; the temperature sensor is used to detect the temperature of the heater; after the controller collects the level change signal from the pressure sensor, it controls the heater to power on and heat up to a set time to heat the low-melting-point alloy. After the temperature sensor detects that the temperature reaches the set value, it generates a level change signal. After detecting the level change signal, the controller cuts off the power to the heater, and the low-melting-point alloy will cool and solidify. The vertical tail and the support frame will be fixed in a vertical state after the low-melting alloy cools.

2. The self-deployable micro propeller drone according to claim 1, characterized in that: The low melting point alloy is an alloy having a melting point in the range of 40-70°C.

3. The self-deployable micro propeller drone according to claim 1, characterized in that: The low melting point alloy is selected from indium-bismuth-tin alloy or tin-bismuth alloy.

4. The self-deployable micro propeller drone according to claim 1, characterized in that: The heater adopts polyimide electric heating film or resistor.

5. The self-deployable micro propeller drone according to claim 1, characterized in that: The pressure sensor is a thin film sensor.

6. The self-deployable micro propeller drone according to claim 1, characterized in that: The flight power system includes a propeller and a motor, and the propeller consists of foldable blades, a propeller clamp, and a spring; the two foldable blades are installed on the propeller clamp through a shaft, and a spring is wound around the root of the propeller, and the propeller is constrained in a folded state by the elastic force of the spring; when the motor is energized, the propeller rotates to generate centrifugal force, and when the centrifugal force is greater than the spring force, the foldable blades will unfold under the action of the centrifugal force; when the motor is powered off, the centrifugal force generated is less than the spring force, and the foldable blades will return to the folded state under the action of the spring force.

7. The self-deployable micro propeller drone according to claim 1, characterized in that: The controller is wirelessly connected to a ground remote controller, which includes a throttle push rod and a direction push rod. Pushing the throttle push rod can remotely control the speed of the motor.

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