Foldable unmanned aerial vehicle

Abstract

The present disclosure provides a foldable unmanned aerial vehicle. The unmanned aerial vehicle comprises a body main body comprising two side portions opposite to each other; a rotor assembly for providing flight power, the rotor assembly comprising a first rotor and a second rotor respectively located at the two side portions; and at least one mechanical rotating structure, wherein the rotor assembly is rotatably connected with the body main body through the at least one mechanical rotating structure, wherein the at least one mechanical rotating structure is configured to switch the rotor assembly between an unfolded state and a folded state, in the unfolded state, the first rotor and the second rotor are separated from each other, and in the folded state, the first rotor and the second rotor are close to each other. The embodiments of the present disclosure can realize simple and stable folding of the unmanned aerial vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of aircraft technology, and more particularly to a foldable unmanned aerial vehicle. Background Technology

[0002] Unmanned aerial vehicles (UAVs), also known as drones, are unmanned aircraft controlled by radio remote control equipment and their own program control devices. Due to their advantages such as small size, low cost, ease of use, and low environmental requirements, UAVs are widely used in various fields (e.g., aerial photography, agriculture, plant protection, surveying). To facilitate carrying, transportation, and storage, an increasing number of drones are adopting folding technology. How to achieve a simple and stable foldable UAV is currently a key issue in the development of foldable UAVs. Summary of the Invention

[0003] According to a first aspect of this disclosure, a foldable unmanned aerial vehicle is provided, comprising: a fuselage body including two sides opposite to each other; a rotor assembly for providing flight propulsion, the rotor assembly including a first rotor and a second rotor respectively located at the two sides; and at least one mechanical rotating structure, wherein the rotor assembly is rotatably connected to the fuselage body via the at least one mechanical rotating structure, wherein the at least one mechanical rotating structure is configured to switch the rotor assembly between an deployed state and a folded state, wherein in the deployed state the first rotor and the second rotor are separated from each other, and in the folded state the first rotor and the second rotor are close to each other.

[0004] According to one or more embodiments of this disclosure, a first rotor and a second rotor, respectively located on two sides of the fuselage body, are rotatably connected to the fuselage body using at least one mechanical rotating structure, so that the first rotor and the second rotor can switch between an deployed state (separated from each other) and a folded state (close to each other) relative to the fuselage body. This simplifies the flight and carrying of the unmanned aerial vehicle, and compared to magnetic connection structures, the mechanical rotating structure makes the rotation of the rotor assembly, i.e., the transition between the deployed and folded states, more reliable and stable. Attached Figure Description

[0005] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort. The drawings are as follows:

[0006] Figure 1This is a perspective view of an unmanned aerial vehicle according to some embodiments of the present disclosure, wherein the rotor assembly is in an deployed state;

[0007] Figure 2 It shows Figure 1 A bottom view of the unmanned aerial vehicle in the image;

[0008] Figure 3 It shows Figure 1 A 3D view of an unmanned aerial vehicle, with the rotor assembly in a folded state;

[0009] Figure 4 It shows Figure 1 Exploded view of the unmanned aerial vehicle in the image;

[0010] Figure 5 It shows Figure 1 Exploded view of the unmanned aerial vehicle in the image;

[0011] Figure 6 It shows Figure 1 A partial cross-sectional view of the unmanned aerial vehicle in the image;

[0012] Figure 7 It shows Figure 1 Exploded view of the mechanical rotating structure of an unmanned aerial vehicle;

[0013] Figure 8 It shows Figure 7 A three-dimensional diagram of some components in the mechanical rotating structure;

[0014] Figure 9 It shows Figure 7 A three-dimensional view of some other components in the mechanical rotating structure;

[0015] Figure 10 It shows Figure 7 A three-dimensional view of some other components in the mechanical rotating structure, in which cams are combined with elastic elements;

[0016] Figure 11 It shows Figure 7 A three-dimensional view of the elastic element;

[0017] Figure 12 It shows Figure 11 The main view of the elastic element;

[0018] Figure 13 It shows Figure 7 A three-dimensional view of the cam; and

[0019] Figure 14 It shows Figure 13 The front view of the cam.

[0020] List of reference numerals in the attached diagram:

[0021] 10 Unmanned Aerial Vehicle (UAV); 100 Main Body; 200 Rotor Assembly; 300 Mechanical Rotation Structure; 210 First Rotor; 220 Second Rotor; 111 Display Screen; 112 Control Buttons; 113 Camera; 114 Battery; 115 Gimbal; 120 Main Body Shell; 121 Upper Surface of Main Body Shell; 122 Lower Surface of Main Body Shell; 1221 First Heat Dissipation Hole; 1222 Second Heat Dissipation Hole; 1223 Third Heat Dissipation Hole; 1224 Recess; 310 Rotary Shaft Assembly; 311 First Rotary Shaft; 312 Second Rotary Shaft; 400 Magnetic Rotation Structure; 211 Propeller of First Rotor; 221 Propeller of Second Rotor; 212 Protective Frame of First Rotor; 222 Protective Frame of Second Rotor Frame; 3111 Connecting part of the first rotating shaft; 3121 Connecting part of the second rotating shaft; 320 Cam assembly; 330 Elastic component; 331 First elastic element; 332 Second elastic element; 321 First cam; 322 Second cam; 3311 First hollow part of the first elastic element; 3321 First hollow part of the second elastic element; 313 Protrusion; 3312 Contact surface of the first elastic element; 3313 First section of the first elastic element; 3314 Second section of the first elastic element; 3315 Third section of the first elastic element; 3316, 3317 Second hollow part of the first elastic element; 341 First cover plate; 342 Second cover plate; 3112 First protrusion; 3122 Second protrusion. Detailed Implementation

[0022] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0023] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this disclosure are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0024] In this disclosure, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0025] In this document, “connection” refers to fluid connectivity, meaning that a fluid (including liquids and / or gases) can flow from one component to another. Furthermore, in this document, connectivity between two components can refer to direct connection between the two components, such as at least partial alignment between two holes, or connectivity via an intermediate medium.

[0026] In this disclosure, unless otherwise stated, all figures used in this specification and claims to represent component parameters, technical effects, etc., should in any instance be understood to be modified by the terms "approximately" or "roughly". Therefore, unless indicated to the contrary, the numerical parameters listed in the following specification and appended claims are approximate values. They will vary for those skilled in the art depending on the desired properties and effects sought to be obtained through this disclosure, and each numerical parameter should be interpreted according to the number of significant figures and conventional rounding methods or in a manner understood by those skilled in the art.

[0027] In this disclosure, the terminology used in the description of the various examples is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context explicitly indicates otherwise, an element may be one or more unless the number of elements is specifically limited. Furthermore, the term "and / or" as used in this disclosure covers any one of the listed items and all possible combinations thereof.

[0028] To facilitate carrying, transportation, and storage, an increasing number of unmanned aerial vehicles (UAVs) are adopting folding technology. In these technologies, the foldable rotors of UAVs are typically connected to the fuselage via magnetic attachment. However, this magnetic connection structure not only increases the weight of the UAV (due to the use of magnetic metal materials), but also makes rotor folding difficult to control and less stable.

[0029] In view of this, the present disclosure uses at least one mechanical rotating structure to rotatably connect a first rotor and a second rotor, located on two sides of the fuselage body respectively, so that the first rotor and the second rotor can switch between an deployed state (separated from each other) and a folded state (close to each other) relative to the fuselage body. This simplifies the flight and carrying of the unmanned aerial vehicle, and compared to magnetic connection structures, the mechanical rotating structure makes the rotation of the rotor assembly, i.e., the transition between the deployed and folded states, more reliable and stable.

[0030] The following reference Figures 1 to 14 The foldable unmanned aerial vehicle disclosed herein is described in detail.

[0031] Figure 1 This is a perspective view of an unmanned aerial vehicle 10 according to some embodiments of the present disclosure, wherein the rotor assembly 200 is in an deployed state; Figure 2It shows Figure 1 A bottom view of the unmanned aerial vehicle 10 in the image; Figure 3 It shows Figure 1 A 3D view of the unmanned aerial vehicle 10, in which the rotor assembly 200 is in a folded state; Figure 4 It shows Figure 1 Exploded view of unmanned aerial vehicle 10 in the image; Figure 5 It shows Figure 1 An exploded view of the unmanned aerial vehicle 10.

[0032] like Figures 1 to 5 As shown, the unmanned aerial vehicle 10 may include a fuselage 100, a rotor assembly 200 for providing flight power, and at least one mechanical rotating structure 300.

[0033] The fuselage body 100 includes two sides facing each other. The rotor assembly 200 includes a first rotor 210 and a second rotor 220 located at the two sides respectively. The rotor assembly 200 is rotatably connected to the fuselage body 100 via at least one mechanical rotating structure 300. The at least one mechanical rotating structure 300 is configured to allow the rotor assembly 200 to be in an deployed state (e.g., Figure 1 (as shown) and folded state (as shown) Figure 2 The rotor 210 and the second rotor 220 switch between the two states. In the unfolded state, the first rotor 210 and the second rotor 220 are separated from each other, and in the folded state, the first rotor 210 and the second rotor 220 are close to each other.

[0034] In this document, "deployed state" refers to the state in which the unmanned aerial vehicle 10 is in flight, in which the first rotor 210 and the second rotor 220 of the unmanned aerial vehicle 10 are far apart from each other, for example, deployed on both sides of the fuselage body 100. In some examples, in the deployed state, the first rotor 210 and the second rotor 220 may be aligned with the fuselage body 100. Alternatively, as Figure 1 As shown, in the deployed state, the free ends of the first rotor 210 and the second rotor 220 are located above the fuselage body 100. That is, the first rotor 210 and the second rotor 220 extend diagonally upwards towards the fuselage body 100, which helps reduce flight drag and improve the flight efficiency of the unmanned aerial vehicle 10. Furthermore, the "folded state" refers to the state in which the unmanned aerial vehicle 10 is stored or carried, in which the first rotor 210 and the second rotor 220 are close to each other; for example, they can at least partially overlap. In some examples, such as... Figure 3As shown, in the folded state, the first rotor 210 and the second rotor 220 completely overlap below the fuselage body 100, thus facilitating the carrying of the unmanned aerial vehicle 10. Furthermore, in the folded state, the completely overlapping first rotor 210 and second rotor 220 can be arranged perpendicular to the fuselage body 100, or they can be arranged at an angle to the fuselage body 100.

[0035] Since the rotor assembly 200 is rotatably connected to the fuselage body 100 via at least one mechanical rotating structure 300, by rotating the first rotor 210 and the second rotor 220 downward toward the fuselage body 100, the first rotor 210 and the second rotor 220 can approach each other, thereby achieving a folded state. In the folded state, with the first rotor and the second rotor overlapping, the first rotor 210 and the second rotor 220 are rotated downward toward the fuselage body 100 until they overlap. By rotating the first rotor 210 and the second rotor 220 upward away from the fuselage body 100, the first rotor 210 and the second rotor 220 (specifically, their free ends) can move away from each other, thereby achieving an unfolded state. In the unfolded state, with the first rotor and the second rotor tilted relative to the fuselage body, the first rotor 210 and the second rotor 220 are rotated upward until they are positioned diagonally above the fuselage body 100.

[0036] The above-described implementation method can easily realize the flight and carrying of the unmanned aerial vehicle 10. On the other hand, compared with the magnetic connection structure, the mechanical rotation structure 300 can make the rotation of the rotor assembly 200 more reliable and stable.

[0037] In some embodiments, the main body 100 includes (specifically, disposed on the upper surface 121 of the main body shell) a display screen 111, control buttons 112, and a camera 113 mounted on a gimbal 115. The control buttons 112 allow selection of the drone 10's flight mode and setting of its flight path, enabling remote-controlled flight. The display screen 111 can display the flight mode and flight path for selection and setting. The camera 113 on the gimbal 115 enables the drone 10 to perform video and photographic functions. In some examples, the gimbal 115 can be configured with mechanical stabilization and electronic image stabilization technologies to improve the stable imaging effect of the drone 10. Alternatively or additionally, the drone 10 may have an external remote controller, mobile phone, or other device to control the drone 10's flight mode, set its flight path, and perform other functions.

[0038] In some embodiments, the fuselage 100 may further include a battery 114 for powering the unmanned aerial vehicle 10. For example... Figure 1As shown, the battery 114 can be mounted on the upper surface 121 of the main body 100 along with the display screen 111 and control buttons 112. The battery 114 can be made removable for easy replacement.

[0039] In some embodiments, the fuselage body 100 further includes a main body shell 120 for mounting at least one mechanical rotating structure 300. In the deployed state, the first rotor 210 and the second rotor 220 are limited by the main body shell 120 (e.g., Figure 6 As shown), so that the free ends of the first rotor 210 and the second rotor 220 remain above the fuselage body 100. In the folded state, the first rotor 210 and the second rotor 220 overlap each other below the fuselage body 100 (as shown). Figure 3 (As shown). That is, in the folded state, the first rotor 210 and the second rotor 220 are restricted from rotating downwards by their overlap. The above embodiment can restrict the positions of the first rotor 210 and the second rotor 220 in both the deployed and folded states without requiring additional limiting structures on the unmanned aerial vehicle 10 or its mechanical rotating structure 300. In some other embodiments, additional limiting structures can be provided on the fuselage body 100 to restrict the positions of the first rotor 210 and the second rotor 220 in both the deployed and folded states.

[0040] In some embodiments, a first heat dissipation hole 1221 is provided on the lower surface 122 of the main body shell 120. The position of the first heat dissipation hole corresponds to the position of the fan inside the main body, so that the fan can draw in external airflow through the first heat dissipation hole. A second heat dissipation hole 1222 may also be provided on the lower surface of the main body shell 120. The second heat dissipation hole may be located near the two sides of the main body to increase the heat convection cooling effect. In addition, a third heat dissipation hole 1223 may also be provided on the two sides of the main body shell 120, that is, the two sides of the main body, to further increase the heat convection cooling effect.

[0041] In some embodiments, the main body housing 120 has at least one groove 1224 extending between the two sides on the surface between the two sides (e.g., on the lower surface 122 of the main body 100), each of the at least one mechanical rotating structure 300 is mounted in a corresponding groove 1224 of the at least one groove 1224, and the first rotating shaft 311 and the second rotating shaft 312 of the mechanical rotating structure 300 (hereinafter referred to as...) Figure 7 (Detailed description) The free ends of the groove 1224 extend from two sides respectively. In some examples, the extending direction of the groove 1224 may be perpendicular to the two sides of the fuselage body 100; alternatively, it may be inclined to the two sides of the fuselage body 100. Figure 5In the figure, a groove 1224 is provided on the rear part of the main body shell 120 for mounting a mechanical rotating structure 300, and another groove is provided on the front part of the main body shell 120 for mounting a magnetic rotating structure 400. It should be understood that although only a mechanical rotating structure 300 is provided on the rear part of the main body 100 in the figure, the magnetic rotating structure 400 on the front can be replaced with the mechanical rotating structure 300, or the mechanical rotating structure 300 can be installed on the front part of the main body 100.

[0042] In some embodiments, each of the at least one mechanical rotation structure 300 includes a pivot assembly 310 connected to the rotor assembly 200 and configured to allow the first rotor 210 and the second rotor 220 to rotate about two sides of the fuselage body, respectively. That is, the pivot assembly 310 can be configured to allow the first rotor 210 and the second rotor 220 to rotate about the extension direction of their respective sides, thereby facilitating the rotation of the rotor assembly from a folded state (e.g., the rotor assembly 200 overlapping below the fuselage body 100) to an unfolded state (e.g., the rotor assembly 200 unfolded on both sides), or from an unfolded state to a folded state.

[0043] In some embodiments, such as Figures 6 to 8 As shown, the rotating shaft assembly 310 includes: a first rotating shaft 311 for connection to the first rotor 210; and a second rotating shaft 312 for connection to the second rotor 220, wherein the end of the first rotating shaft 311 opposite to the first rotor 210 and the end of the second rotating shaft 312 opposite to the second rotor 220 are rotatably engaged together. Engaging the first rotating shaft 311 and the second rotating shaft 312 (e.g., via gears) allows the other rotor to rotate when one rotor is rotated, thereby achieving synchronous movement of the two rotors. Alternatively, the first rotating shaft 311 and the second rotating shaft 312 may not be engaged together, with a certain gap between them, and this disclosure is not limited thereto. Alternatively, at least one mechanical rotating structure may also have different structures; for example, one mechanical rotating structure may include a rotating shaft assembly, while another mechanical rotating structure may not include a rotating shaft assembly but includes a guide rail structure, etc.

[0044] In some embodiments, motors may be additionally provided on the first rotating shaft 311 and the second rotating shaft 312, thereby enabling the rotor assembly 200 to controllably and automatically switch between an unfolded state and a folded state.

[0045] In some embodiments, such as Figure 6As shown, each of the first rotor 210 and the second rotor 220 includes a propeller (i.e., propeller 211 of the first rotor and propeller 221 of the second rotor) and a protective frame surrounding the propeller (protective frame 212 of the first rotor and protective frame 222 of the second rotor) to protect the propeller. The free end of the first shaft 311 is provided with a connecting portion 3111 that connects to the protective frame 212 of the first rotor 210, and the free end of the second shaft 312 is provided with a connecting portion 3112 that connects to the protective frame of the second rotor 220. By connecting the protective frame of the rotor assembly 200 to the shaft of the mechanical rotating structure 300, the user can easily rotate the rotor assembly 200. Specifically, when the user applies force to the protective frame of the rotor assembly 200, this force is directly transmitted to the shaft assembly 310 through the protective frame, thereby facilitating subsequent rotation of the rotor assembly 200. Furthermore, with the elastic component 330 and cam component 320 installed on the pivot, the force between the elastic component 330 and cam component 320 can also be directly transmitted from the pivot component 310 to the protective frame, thereby providing the user with a special feel when unfolding and folding the rotor component 200.

[0046] In some embodiments, such as Figure 7As shown, each of the at least one mechanical rotating structure 300 further includes: a cam assembly 320 fixed to the shaft assembly 310; and an elastic component 330 movably in contact with the cam assembly 320. The elastic component 330 and the cam assembly 320 are configured such that, as the cam assembly 320 rotates with the shaft assembly 310, the elastic component 330 applies a varying elastic force to the cam assembly 320, and the cam assembly 320 converts the elastic force into torque on the shaft assembly 310. In other words, an elastic component 330 and a cam component 320 are provided on the pivot assembly 310. The elastic component 330 applies a varying elastic force to the cam assembly 320 when the cam assembly 320 and the pivot assembly 310 move. The cam assembly 320 converts this varying elastic force into varying torque, which acts on the pivot assembly 310 and further on the upper rotor assembly 200. This helps the user switch the state of the rotor assembly 200. For example, the torque provides reverse resistance to the rotation of the pivot assembly to prevent the rotor assembly 200 from rotating accidentally, or the torque provides positive assistance to the rotation of the pivot assembly (which can provide a similar suction effect) to make rotating the rotor assembly 200 easier. The reverse resistance provided to the rotation of the pivot assembly can also achieve a locking function for the unmanned aerial vehicle's folding and unfolding. In the folded state of the unmanned aerial vehicle (UAV), the reverse drag ensures the integrity of the first and second rotors when folded (i.e., closed), preventing them from automatically unfolding. In the unfolded state (deployed flight), the reverse drag ensures zero play in the pivot assembly, thereby reducing vibration and maintaining the stability of the UAV's flight. Alternatively, at least one mechanical rotating structure can have different structures; for example, one mechanical rotating structure may include a cam assembly and an elastic component, while another mechanical rotating structure may not include a cam assembly and an elastic component.

[0047] In some embodiments, the elastic component 330 and the cam component 320 are configured such that the elastic force and torque satisfy the following: when the rotation angle of the shaft assembly 310 is within a first preset angle range, the elastic force increases with the increase of the rotation angle, and the torque remains within a first preset torque range; when the rotation angle is within a second preset angle range, the elastic force remains constant with the increase of the rotation angle, and the torque first decreases to zero and then increases in the opposite direction; and when the rotation angle is within a third preset angle range, the elastic force decreases with the increase of the rotation angle, and the torque remains within a second preset torque range. The first preset angle range, the second preset angle range, and the third preset angle range can be the rotation angle range of the shaft assembly 310 from a folded state to an unfolded state, or the rotation angle range from an unfolded state to a folded state. In other words, regardless of whether the rotation changes from an unfolded state to a folded state or vice versa, in the initial stage of the rotation of the pivot assembly 310 (first preset angle range), the elastic force increases with the increase of the rotation angle, and the torque remains within the first preset torque range. In the middle stage of the rotation of the pivot assembly 310 (second preset angle range), the elastic force remains constant with the increase of the rotation angle, and the torque first decreases to zero and then increases in the opposite direction. In the final stage of the rotation of the pivot assembly 310 (third preset angle range), the elastic force decreases with the increase of the rotation angle, and the torque remains within the second preset torque range. The directions of the first preset torque range and the second preset torque range can be opposite, and their absolute values ​​are both greater than the absolute value of the torque generated within the second preset angle range. This provides a unique tactile feedback for the user when unfolding and folding the rotor assembly 200. For example, in the initial stage of unfolding / folding the rotor assembly 200, the torque provided by the cam assembly within the first preset torque range counteracts the rotation of the shaft assembly 310 and the rotor assembly 200, thereby preventing accidental rotation of the rotor assembly 200 (the user experiences the counteracting sensation of the rotor assembly 200). In the intermediate stage, the torque provided by the cam assembly first decreases and then increases in the opposite direction, with the torque generated by the cam changing from resistance to assistance, making the rotation of the rotor assembly 200 smoother. Finally, in the final stage, the torque provided by the cam within the second preset torque range assists the rotation of the shaft assembly 310 and the rotor assembly 200, thereby promoting the rotor assembly 200 (e.g., automatically) to enter the folded / unfolded state (the user experiences the engaging sensation of the rotor assembly 200). To ensure that the elastic force and torque provided by the elastic component 330 and the cam assembly 320 meet the above conditions, the elastic component 330 and the cam assembly 320 may have one or more of the following characteristics.

[0048] In some embodiments, the elastic component 330 includes at least one elastic element, and the cam assembly 320 includes at least one cam. Each of the at least one elastic element has a first hollow portion, and each of the at least one cam is located within the first hollow portion of a corresponding elastic element to apply an elastic force to the cam assembly 320 as it rotates with the shaft assembly 310. For example, as... Figures 7 to 9 As shown, the elastic component 330 includes a first elastic element 331 and a second elastic element 332, and the cam assembly 320 includes a first cam 321 and a second cam 322. The first cam 321 is located within the first hollow portion 3311 of the first elastic element 331 and is fixed to the first rotating shaft 311. The second cam 322 is located within the first hollow portion 3321 of the second elastic element 332 and is fixed to the second rotating shaft 312. For example, as... Figure 8 As shown, a protrusion 313 can be provided on each of the first rotating shaft 311 and the second rotating shaft 312. The first cam and the second cam can be respectively sleeved on the protrusions of the first rotating shaft 311 and the second rotating shaft 312 to be fixed together. Alternatively, only one cam and one elastic element can be provided on one of the first rotating shaft 311 or the second rotating shaft 312. The above embodiment can achieve the deformation of the elastic element when the cam rotates with the rotating shaft assembly 310, thereby applying a changing elastic force to the cam. The elastic element and cam configured in this way can be designed to be relatively flat and compact, thereby saving space, and the elastic force generated by the elastic element is more uniform and smooth, without producing large peaks. Alternatively, at least one elastic element can also have different structures, for example, one elastic element includes a first hollow portion, while the other elastic element is set as a spring, etc.

[0049] In some embodiments, each of the at least one cam includes a first direction and a second direction perpendicular to the first direction, wherein the dimension of the cam in the first direction is larger than the dimension of the cam in the second direction, and the two ends of the cam in the first direction contact a corresponding elastic element of at least one elastic element. For example, as... Figure 13 and Figure 14 As shown, the dimension L of the first cam 321 in the first direction is larger than its dimension in the second direction W. The features of the second cam are the same as those of the first cam, and will not be described in detail here. Thus, when the two ends of the cam in the first direction are in contact with the elastic element, it is possible to avoid the two ends in the second direction also contacting the elastic element, thereby preventing interference with the interaction between the cam and the elastic element. Alternatively, at least one cam may have a different structure; for example, one cam may have the features described above, while the dimension of the other cam in the first direction is equal to its dimension in the second direction.

[0050] In some embodiments, the first hollow portion of each elastic element includes two contact surfaces that contact (e.g., tangentially contact) the two ends of a corresponding cam, wherein each of the two contact surfaces includes a first segment, a second segment, and a third segment that are sequentially connected and have an arcuate shape. For example, as Figures 10 to 12 As shown, the first hollow portion 3311 of the first elastic element 331 includes two contact surfaces 3312 that contact the two ends of the first cam 321. Each contact surface 3312 includes an arc-shaped first segment 3313, a second segment 3314, and a third segment 3315. The features of the second elastic element are the same as those of the first elastic element and will not be described in detail here. This allows the cam to move between the three segments of the contact surfaces, thereby causing different variations in the elastic force provided by the elastic element 330 and the torque provided by the cam assembly 320 during the initial, intermediate, and final stages of the rotation of the aforementioned shaft assembly 310. The elastic element and cam configured in this way can be designed to be relatively flat and compact, thereby saving space, and the elastic force generated by the elastic element is more uniform and smooth, without producing large peaks. Alternatively, at least one elastic element may also have a different structure; for example, one elastic element may have the above-described features, while the first hollow portion of another elastic element has only one contact surface, etc.

[0051] In some embodiments, the first, second, and third segments of each contact surface of each elastic element are symmetrical with respect to the central axis of the contact surface. This ensures that the elastic force provided by the elastic component 330 from the folded state to the unfolded state and from the unfolded state to the folded state is consistent, thereby ensuring that the torque applied to the shaft assembly 310 by the cam assembly 320 from the folded state to the unfolded state and from the unfolded state to the folded state is consistent. In other words, the tactile sensation experienced by the user when rotating the rotor assembly 200 from the folded state to the unfolded state and from the unfolded state to the folded state is consistent. Alternatively, at least one elastic element may have a different structure; for example, one elastic element may have the above-described features, while the contact surface of the first hollow portion of another elastic element may have only one or two segments.

[0052] In some embodiments, such as Figure 10 and Figure 12 As shown, the second section is arc-shaped, and the second sections of the two contact surfaces each have a common center and the same radius, with the center of the corresponding cam coinciding with the center. This embodiment ensures that the elastic element does not deform or the provided elastic force remains unchanged when the cam enters contact with the second section of the contact surface.

[0053] In one or more of the above embodiments, it is assumed that the rotation angle of the shaft assembly 310 is in the range of 0° to 95°. When the rotation angle of the shaft assembly 310 changes from 0° to 15° (first preset angle range), the end contacts the first section of the contact surface, the deformation of the elastic element increases, the elastic force provided increases, but the elastic lever arm (the horizontal distance from the cam to the rotation center, i.e., the center of the circle) decreases. Therefore, the torque generated by the cam is large and basically unchanged, and the direction of the torque opposes the rotation of the shaft assembly 310, thereby generating resistance to the rotation of the rotor assembly 200. When the rotation angle of the shaft assembly 310 changes from 15° to 80° (second preset angle range), the end of the cam enters the second section (e.g., the arc section). At this time, the elastic element does not deform, so the elastic force remains unchanged, but the elastic lever arm first decreases and then increases. Therefore, the torque generated by the cam first decreases to 0 and then increases in the opposite direction. At this time, the torque is maintained in a relatively small range, and the direction of the torque changes from hindering the rotation of the shaft assembly 310 to promoting the rotation of the shaft assembly 310. As the rotation angle of the shaft assembly 310 increases from 80° to 95°, the cam enters the third section of the contact surface. The deformation of the elastic element decreases, the provided elastic force decreases, while the elastic lever arm increases. Therefore, the torque generated by the cam is relatively large and remains essentially constant. The direction of this torque promotes the rotation of the shaft assembly 310, thereby causing the rotor assembly 200 to automatically enter its position. This process can be symmetrical, for example, when the rotation angle is 47.5°. That is, at a rotation angle of 47.5°, the cam contacts the midpoint of the contact surface, and the torque generated by the cam decreases to 0. It should be understood that the rotation angle of the shaft assembly 310, as well as the first, second, and third preset angle ranges, can be set as needed and are not limited to the ranges described above.

[0054] In some embodiments, a plurality of second hollow portions are further provided between each of the two contact surfaces of each elastic element and the outer peripheral surface of the elastic element. By providing the second hollow portions, the amount of deformation of the elastic element when subjected to cam compression can be increased, thereby improving the elastic force provided by the elastic element. For example, as Figure 11 As shown, a plurality of second hollow portions are provided between the contact surface 3312 of the first elastic member 331 and the outer peripheral surface of the first elastic member. For example, there are second hollow portions 3316 extending in the lateral direction and second hollow portions 3317 extending from the first hollow portion 3311 around the outer peripheral surface of the first elastic member. The features of the second elastic member are the same as those of the first elastic member, and will not be described in detail here. Alternatively, at least one elastic member may have a different structure. For example, one elastic member may have the above-described features, while the other elastic member may not have the second hollow portions.

[0055] In some embodiments, the elastic component 330 is made of a non-metallic and elastic material, such as plastic. The elastic force generated by an elastic component with the above characteristics is relatively smooth and has a low peak value, thus requiring less stringent material specifications; plastic is sufficient.

[0056] In some embodiments, such as Figure 7 As shown, each of the at least one mechanical rotating structure 300 further includes a first cover plate 341 and a second cover plate 342 for fixing to the main body 100. A shaft assembly 310, a cam assembly 320, and an elastic component 330 are disposed between the first cover plate 341 and the second cover plate 342. The shaft assembly 310 is rotatably connected to the first cover plate 341, and the elastic component 330 is fixed to the second cover plate 342. By providing the first cover plate 341 and the second cover plate 342, not only can the shaft assembly 310, the cam assembly 320, and the elastic component 330 within them be fixed, but they can also be used to fix them to the main body 100. For example, as... Figure 7 As shown, the first rotating shaft 311 and the second rotating shaft 312 are movably fitted onto the two circular protrusions of the first cover plate 341. The first elastic element and the second elastic element can be fixed to the second cover plate 342 by bolts or the like. The first and second cover plates can also be fixed to the main body 100 of the machine body by bolts or the like.

[0057] In some embodiments, such as Figure 6 and Figure 7 As shown, the pivot assembly 310 has at least one protrusion, and the fuselage body 100 has at least one sensor inside. When the rotor assembly 200 is in the deployed state, each of the at least one protrusion contacts a corresponding sensor among the at least one sensors. For example, as... Figures 6 to 8 As shown, a first protrusion 3112 and a second protrusion 3122 may be respectively provided on the first rotating shaft 311 and the second rotating shaft 312. When the rotor assembly 200 is in the deployed state, the first protrusion 3112 and the second protrusion 3122 can contact the sensors on the fuselage body 100, thereby triggering the deployment recognition of the unmanned aerial vehicle 10. It should be understood that only one protrusion may be provided on one of the first rotating shaft 311 and the second rotating shaft 312, and this disclosure is not limited thereto.

[0058] The above are merely embodiments or examples of this disclosure and do not limit the patent scope of this disclosure. Any equivalent structural transformations made based on the concept of this disclosure and the content of this specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this disclosure. Various elements in the embodiments or examples may be omitted or replaced by equivalent elements. Furthermore, the steps may be performed in a different order than described in this disclosure. Further, various elements in the embodiments or examples may be combined in various ways. Importantly, as technology evolves, many elements described herein can be replaced by equivalent elements appearing after this disclosure.

Claims

1. A foldable unmanned aerial vehicle, comprising: The fuselage body includes two sides facing each other; A rotor assembly for providing flight propulsion, the rotor assembly comprising a first rotor and a second rotor respectively located at the two sides; as well as At least one mechanical rotating structure, wherein the rotor assembly is rotatably connected to the fuselage body via the at least one mechanical rotating structure. The at least one mechanical rotating structure is configured to switch the rotor assembly between an deployed state and a folded state, wherein in the deployed state the first rotor and the second rotor are separated from each other, and in the folded state the first rotor and the second rotor are brought closer together. Each of the at least one mechanical rotating structure includes: A pivot assembly connected to the rotor assembly and configured to allow the first rotor and the second rotor to rotate about the two sides, respectively. A cam assembly, the cam assembly being fixed to the rotating shaft assembly; and An elastic component is provided, which is in movable contact with the cam assembly. The elastic component and the cam assembly are configured such that, as the cam assembly rotates with the shaft assembly, the elastic component applies a varying elastic force to the cam assembly, and the cam assembly converts the elastic force into torque on the shaft assembly. The elastic component and the cam component are configured such that the elastic force and the torque satisfy the following: When the rotation angle of the shaft assembly is within a first preset angle range, the elastic force increases with the increase of the rotation angle, and the torque remains within a first preset torque range. When the rotation angle is within the second preset angle range, the elastic force remains constant as the rotation angle increases, and the torque first decreases to zero and then increases in the opposite direction. When the rotation angle is within the third preset angle range, the elastic force decreases as the rotation angle increases, and the torque remains within the second preset torque range.

2. The unmanned aerial vehicle according to claim 1, wherein, The elastic component includes at least one elastic element, and the cam assembly includes at least one cam. Each of the at least one elastic element is provided with a first hollow portion, and each of the at least one cam is located within the first hollow portion of a corresponding elastic element to apply an elastic force to the cam assembly when the cam assembly rotates with the shaft assembly.

3. The unmanned aerial vehicle according to claim 2, wherein, Each of the at least one cam includes a first direction and a second direction perpendicular to the first direction, wherein the dimension of the cam in the first direction is greater than the dimension of the cam in the second direction, and the two ends of the cam in the first direction contact a corresponding elastic element of the at least one elastic element.

4. The unmanned aerial vehicle according to claim 2, wherein, The first hollow portion of each elastic element includes two contact surfaces that contact the two ends of the corresponding cam, wherein each of the two contact surfaces includes a first segment, a second segment, and a third segment that are connected in sequence and have an arc shape.

5. The unmanned aerial vehicle according to claim 4, wherein, The second section has an arc shape, and the second sections of the two contact surfaces each have a common center and the same radius, and the center of the corresponding cam coincides with the center.

6. The unmanned aerial vehicle according to claim 4, wherein, The first, second, and third segments of each contact surface are symmetrical with respect to the central axis of the contact surface.

7. The unmanned aerial vehicle according to claim 4, wherein, Each of the two contact surfaces of each elastic element is further provided with multiple second hollow sections between each contact surface and the outer peripheral surface of the elastic element.

8. The unmanned aerial vehicle according to any one of claims 1 to 7, wherein, The elastic component is made of a non-metallic and elastic material.

9. The unmanned aerial vehicle according to any one of claims 1 to 7, wherein, Each of the at least one mechanical rotating structure further includes a first cover plate and a second cover plate for fixing to the main body of the machine body, wherein the rotating shaft assembly, the cam assembly and the elastic component are disposed between the first cover plate and the second cover plate, the rotating shaft assembly is rotatably connected to the first cover plate, and the elastic component is fixed to the second cover plate.

10. The unmanned aerial vehicle according to any one of claims 1 to 7, wherein, The rotating shaft assembly includes: A first rotating shaft for connection with the first rotor; and A second rotating shaft for connection with the second rotor. The ends of the first rotating shaft opposite to the first rotor and the ends of the second rotating shaft opposite to the second rotor are rotatably engaged together.

11. The unmanned aerial vehicle according to claim 10, wherein, Each of the first rotor and the second rotor includes a propeller and a protective frame surrounding the propeller, and the free end of the first shaft is provided with a connecting part that connects to the protective frame of the first rotor, and the free end of the second shaft is provided with a connecting part that connects to the protective frame of the second rotor.

12. The unmanned aerial vehicle according to claim 10, wherein, The main body includes a main shell housing that accommodates the at least one mechanical rotating structure. The main shell housing has at least one groove extending between the two sides on its surface. Each mechanical rotating structure in the at least one mechanical transmission structure is installed in a corresponding groove in the at least one groove, and the free ends of the first and second rotating shafts of the mechanical rotating structure extend from the two sides, respectively.

13. The unmanned aerial vehicle according to any one of claims 1 to 7, wherein, The rotating shaft assembly is provided with at least one protrusion, and the fuselage body is provided with at least one sensor. When the rotor assembly is in the deployed state, each of the at least one protrusion is in contact with a corresponding sensor among the at least one sensors.

14. The unmanned aerial vehicle according to any one of claims 1 to 7, wherein, The fuselage body also includes a main body shell for mounting the at least one mechanical rotating structure, wherein, in the unfolded state, the first rotor and the second rotor are limited by the main body shell so that the free ends of the first rotor and the second rotor are held above the fuselage body, and in the folded state, the first rotor and the second rotor overlap each other below the fuselage body.

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