Multi-rotor unmanned aerial vehicle

Abstract

A multi-rotor unmanned aerial vehicle comprises a fuselage and a plurality of rotor mechanisms arranged on the fuselage, and each rotor mechanism comprises a rotor and a connecting mechanism. Wherein the connecting mechanism comprises first rotating shafts, the multiple rotor mechanisms can rotate around the corresponding first rotating shafts according to a set sequence and are mutually overlapped to form a coaxial rotor mechanism assembly, and the axis of the coaxial rotor mechanism assembly is roughly perpendicular to the course axis of the multi-rotor unmanned aerial vehicle. According to the multi-rotor unmanned aerial vehicle, the folding of the multi-rotor unmanned aerial vehicle is realized, the multi-rotor unmanned aerial vehicle is convenient to carry, and the size of the folded multi-rotor unmanned aerial vehicle is greatly reduced due to the fact that the rotor mechanisms are mutually overlapped to form the rotor mechanism assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a multi-rotor unmanned aerial vehicle. Background Art

[0002] Existing multi-rotor UAVs generally have a propeller protection cover on the rotor. Since the protective cover is relatively large, the multi-rotor UAV is inconvenient to carry.

[0003] At present, although a few quad-rotor drones are designed to be foldable for easier carrying, the existing quad-rotor drones can only fold the rotors on both sides, which is more convenient to carry than folding, but the problem of large size of the drone is still not solved. Summary of the invention

[0004] The invention provides a multi-rotor unmanned aerial vehicle.

[0005] In a first aspect, according to an embodiment of the present invention, a multi-rotor drone is provided, comprising:

[0006] the fuselage; and

[0007] A plurality of rotor mechanisms are arranged on the fuselage, each of the rotor mechanisms comprising a rotor and a connecting mechanism;

[0008] Among them, the connecting mechanism includes a first rotating shaft, and the multiple rotor mechanisms can rotate around the corresponding first rotating shaft in a set order, and overlap with each other to form a coaxial rotor mechanism assembly, and the axis of the coaxial rotor mechanism assembly is roughly perpendicular to the heading axis of the multi-rotor drone.

[0009] In the multi-rotor UAV of the present invention, the plurality of rotor mechanisms can respectively rotate around the corresponding first rotating shafts in a set order, and overlap with each other to form a coaxial rotor mechanism assembly, thereby realizing the foldability of the multi-rotor UAV for portability. Moreover, since the plurality of rotor mechanisms overlap with each other to form the rotor mechanism assembly, the volume of the multi-rotor UAV after folding is greatly reduced.

[0010] In a second aspect, according to an embodiment of the present invention, a multi-rotor drone is provided, comprising:

[0011] the fuselage; and

[0012] Four rotor mechanisms are arranged on the fuselage, each of which comprises a rotor and a connecting mechanism;

[0013] The four rotor mechanisms can respectively rotate around the corresponding connecting mechanisms in a set order and overlap with each other to form a coaxial rotor mechanism assembly;

[0014] The four rotor mechanisms respectively constitute a first rotor mechanism group and a second rotor mechanism group in pairs, wherein the first rotor mechanism group is located at the rear side of the fuselage in the unfolded state, and the second rotor mechanism group is located at the front side of the fuselage in the unfolded state;

[0015] (a) the second set of rotor mechanisms is stacked on the outside of the first set of rotor mechanisms in a folded state, or / and (b) the first set of rotor mechanisms is folded first and the second set of rotor mechanisms is folded later to complete the folding of the multi-rotor drone.

[0016] The multi-rotor UAV of the present invention has four rotor mechanisms that can respectively rotate around corresponding connecting mechanisms in a set order and overlap to form a coaxial rotor mechanism assembly, thereby achieving foldability of the multi-rotor UAV for portability. Furthermore, since the four rotor mechanisms overlap to form the rotor mechanism assembly, the volume of the multi-rotor UAV after folding is greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a three-dimensional schematic diagram of a six-rotor UAV shown in one embodiment of the present invention.

[0019] Figure 2 yes Figure 1 A schematic plan view of the fuselage of a six-rotor drone is shown.

[0020] Figure 3 yes Figure 1 The plan view of the six-rotor drone after folding is shown.

[0021] Figures 4 to 6 yes Figure 1 Schematic diagram of the folding process of the six-rotor drone shown.

[0022] Figure 7 It is a three-dimensional schematic diagram of a quad-rotor UAV shown in one embodiment of the present invention.

[0023] Figure 8 and Fig. 9 yes Figure 7 Schematic diagram of the folding process of the quadrotor drone shown.

[0024] Fig.10It is a three-dimensional schematic diagram of a three-rotor UAV according to an embodiment of the present invention.

[0025] Fig.11 yes Fig.10 A schematic plan view of the fuselage of a three-rotor UAV is shown.

[0026] Fig.12 yes Fig.10 The plan view of the three-rotor drone after folding is shown.

[0027] Figures 13 to 15 yes Fig.10 Schematic diagram of the folding process of the three-rotor drone shown. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0030] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0031] The multi-rotor drone of the present invention is described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0032] The embodiment of the present invention shows a multi-rotor drone, comprising a fuselage and a plurality of rotor mechanisms disposed on the fuselage, each of the rotor mechanisms comprising a rotor and a connecting mechanism. The connecting mechanism comprises a first rotating shaft, and the plurality of rotor mechanisms can respectively rotate around the corresponding first rotating shaft in a set order and overlap each other to form a coaxial rotor mechanism assembly, wherein the axis of the coaxial rotor mechanism assembly is substantially perpendicular to the heading axis of the multi-rotor drone.

[0033] In the multi-rotor UAV of the present invention, the plurality of rotor mechanisms can respectively rotate around the corresponding first rotating shafts in a set order, and overlap with each other to form a coaxial rotor mechanism assembly, thereby realizing the foldability of the multi-rotor UAV for portability. Moreover, since the plurality of rotor mechanisms overlap with each other to form the rotor mechanism assembly, the volume of the multi-rotor UAV after folding is greatly reduced.

[0034] Among them, the connecting mechanism of the multi-rotor drone can flexibly connect the rotor mechanism to the fuselage through at least the following three implementation methods, and make the multiple rotor mechanisms rotate relative to their respective corresponding connecting mechanisms, so that they can overlap with each other to form a rotor mechanism assembly.

[0035] The first implementation method: the connecting mechanism is used to enable the rotor mechanism to rotate relative to the fuselage at a fixed angle, so that multiple rotor mechanisms are rotated relative to their corresponding connecting mechanisms according to a set order to achieve a folding effect and overlap to form a rotor mechanism assembly.

[0036] See also Figures 1 to 9 As shown, in the first implementation mode, the multi-rotor UAV 1 of the present invention includes a fuselage 10 and a plurality of rotor mechanisms 20 (as shown in the figure, it may include rotor mechanisms 20A, 20B, 20C, 20D, and 20E) arranged on the fuselage 10. Each rotor mechanism 20 includes a rotor 21. The multi-rotor UAV 1 also includes a plurality of connecting mechanisms 30 arranged on the fuselage 10, and the number of the connecting mechanisms 30 corresponds to the number of the rotor mechanisms 20. Each of the rotor mechanisms 20 is movably connected to the fuselage 10 through the corresponding connecting mechanism 30. The plurality of rotor mechanisms 20 rotate relative to the corresponding connecting mechanisms 30, and can overlap with each other to form a rotor mechanism assembly 2.

[0037] In one embodiment of the present invention, each of the rotor mechanisms 20 includes a protective cover 22 disposed outside the rotor 21, and the protective covers of the multiple rotor mechanisms overlap with each other to form a column structure. Optionally, the multiple rotor mechanisms 20 can overlap with each other to form a coaxial rotor mechanism assembly 2. Further, the protective cover 22 is a circular structure, and the rotor mechanism assembly 2 is a cylindrical structure. Optionally, the axis of the column structure is substantially perpendicular to the heading axis of the multi-rotor drone, which is conducive to the folding of the rotor mechanism.

[0038] In one embodiment of the present invention, see Figure 2 and Figure 3 As shown, the connecting mechanism 30 includes a first connecting component movably connected to the fuselage 10, the first connecting component is connected to the rotor mechanism 20 and can rotate along the first axial direction A, and the first axial direction A is inclined at a preset angle relative to the heading axis 11 of the multi-rotor drone 1. Optionally, the first connecting component includes a first rotating shaft 31 fixedly arranged on the fuselage 10 along the first axial direction A and a first connecting seat 32 pivoted to the first rotating shaft 31, and the first connecting seat 32 is connected to the rotor mechanism 20. Optionally, the first connecting seat 32 includes a connecting seat body 321 pivoted to the first rotating shaft 31 and a connecting member 322 connected to the connecting seat body 321 along an axial direction perpendicular to the first axial direction A, and the connecting member 322 is connected to the rotor mechanism 20. That is, the first rotating shaft is fixed to the fuselage along the axial line of the first rotating shaft, and the connecting mechanism also includes a first connecting seat pivoted to the first rotating shaft, and the first connecting seat is connected to the rotor mechanism.

[0039] In one embodiment of the present invention, the number of the rotor mechanisms 20 is an even number, and each of the rotor mechanisms 20 rotates relative to the corresponding connecting mechanisms 30 to form the rotor mechanism assembly 2. Optionally, the even number of the rotor mechanisms 20 constitutes a plurality of rotor mechanism groups, and the rotor mechanism group includes two rotor mechanisms 20. The two rotor mechanisms 20 of the rotor mechanism group rotate relative to the corresponding connecting mechanisms 30 to be symmetrically arranged on both sides of the fuselage 10. That is, the two rotor mechanisms of the rotor mechanism group are symmetrically arranged on both sides of the fuselage in the deployed state.

[0040] exist Figures 1 to 6 In the example shown, the multi-rotor drone 1 is a six-rotor drone. Figure 1As shown, two rotor mechanisms 20A form a first rotor mechanism group, two rotor mechanisms 20B form a second rotor mechanism group, and two rotor mechanisms 20C form a third rotor mechanism group. Among them, the preset angle formed between the axial line of the first rotating shaft 31 of the connecting mechanism 30 corresponding to the two rotor mechanisms 20B of the second rotor mechanism group and the heading axis 11 of the multi-rotor drone 1 is 90 degrees, and the preset angle formed between the axial line of the first rotating shaft 31 of the connecting mechanism 30 corresponding to the four rotor mechanisms 20A and 20C of the other two groups of the rotor mechanism groups and the heading axis 11 of the multi-rotor drone 1 is an acute angle. Optionally, the range of the preset angle is 35 degrees to 85 degrees. That is to say, the range of the angle formed between the axial line of at least one of the first rotating shafts and the heading axis of the multi-rotor drone is 35 degrees to 85 degrees. The angle formed between the axial line of at least one of the first rotating shafts and the heading axis of the multi-rotor drone is 90 degrees.

[0041] When the six-rotor drone is folded, the first connection seat 32 of the connection mechanism 30 corresponding to the two rotor mechanisms 20A of the first rotor mechanism group is first rotated relative to the first rotating shaft 31 around the first axial direction A, thereby driving the two rotor mechanisms 20A of the first rotor mechanism group to rotate and overlap each other to form a first rotor mechanism assembly 2A. Figure 4 Then, the first connection seat 32 of the connection mechanism 30 corresponding to the two rotor mechanisms 20C of the third rotor mechanism group is rotated relative to the first rotating shaft 31 around the first axial direction A, thereby driving the two rotor mechanisms 20C of the third rotor mechanism group to rotate and overlap with the first rotor mechanism assembly 2A to form a second rotor mechanism assembly 2B, as shown in FIG. Figure 5 Finally, the first connection seat 32 of the connection mechanism 30 corresponding to the two rotor mechanisms 20B of the second rotor mechanism group is rotated relative to the first rotating shaft 31 around the first axial direction A, thereby driving the two rotor mechanisms 20B of the second rotor mechanism group to rotate and overlap with the second rotor mechanism assembly 2B to form the rotor mechanism assembly 2, completing the folding of the six-rotor drone, as shown. Figure 6 shown.

[0042] exist Figures 7 to 9 In the example shown, the multi-rotor drone 1 is a quad-rotor drone, that is, the multi-rotor drone includes four rotor mechanisms, and the four rotor mechanisms form a first rotor mechanism group and a second rotor mechanism group in pairs. Figure 7As shown, two rotor mechanisms 20D constitute a first rotor mechanism group, and two rotor mechanisms 20E constitute a second rotor mechanism group. The preset angle formed between the axial line of the first rotating shaft 31 of the connecting mechanism 30 corresponding to the four rotor mechanisms 20D and 20E and the heading axis 11 of the multi-rotor drone 1 is an acute angle. Optionally, the preset angle ranges from 35 degrees to 85 degrees. In other words, the angle formed between the axial line of at least one of the first rotating shafts and the heading axis of the multi-rotor drone ranges from 35 degrees to 85 degrees.

[0043] When the quad-rotor drone is folded, the first connecting seat 32 of the connecting mechanism 30 corresponding to each of the two rotor mechanisms 20D of the first rotor mechanism group is first rotated relative to the first rotating shaft 31 around the first axial direction A, thereby driving the two rotor mechanisms 20D of the first rotor mechanism group to rotate and overlap each other to form a third rotor mechanism assembly 2C. Figure 8 Then, the first connection seat 32 of the connection mechanism 30 corresponding to the two rotor mechanisms 20E of the second rotor mechanism group is rotated relative to the first rotating shaft 31 around the first axial direction A, thereby driving the two rotor mechanisms 20E of the second rotor mechanism group to rotate and overlap with the third rotor mechanism assembly 2C to form the rotor mechanism assembly 2, and the folding of the quad-rotor drone is completed, as shown. Fig. 9 As shown, the first group of rotor mechanism groups is located at the rear side of the fuselage in the deployed state, and the second group of rotor mechanism groups is located at the front side of the fuselage in the deployed state.

[0044] It can be understood that the second rotor mechanism group is stacked on the outside of the first rotor mechanism group in the folded state. The first rotor mechanism group is folded first, and the second rotor mechanism group is folded later to complete the folding of the multi-rotor drone.

[0045] Furthermore, the number of the rotor mechanisms corresponds one-to-one to the number of the first rotating shafts, the two first rotating shafts corresponding to the first group of rotor mechanism groups are symmetrically arranged relative to the heading axis of the multi-rotor UAV, and the two first rotating shafts corresponding to the second group of rotor mechanism groups are symmetrically arranged relative to the heading axis of the multi-rotor UAV, so that after the UAV is folded or unfolded, the positions of each rotor mechanism are symmetrical and the force is evenly distributed.

[0046] Furthermore, the number of the rotor mechanisms corresponds one-to-one to the number of the first rotating shafts, and the two first rotating shafts corresponding to the first group of rotor mechanism groups are closer to the heading axis of the multi-rotor UAV than the two first rotating shafts corresponding to the second group of rotor mechanism groups, which is more conducive to folding the first group of rotor mechanism groups first and the second group of rotor mechanism groups later.

[0047] In another example of the present invention, the multi-rotor drone is a two-rotor drone. The preset angle formed between the axial line of the first rotating shaft 31 of the connecting mechanism 30 corresponding to the two rotor mechanisms 20 and the heading axis 11 of the multi-rotor drone 1 is 90 degrees. When the two-rotor drone is folded, the first connecting seat 32 of the connecting mechanism 30 corresponding to each of the two rotor mechanisms is directly rotated around the first axial direction A relative to the first rotating shaft 31, thereby driving the two rotor mechanisms to rotate and overlap each other to form the rotor mechanism assembly 2, and completing the folding of the two-rotor drone.

[0048] The second implementation method: through the connecting mechanism, the rotor mechanism can be rotated at a fixed inclination angle, and can be rotated relative to the connecting mechanism, so that multiple rotor mechanisms can be rotated relative to their corresponding connecting mechanisms according to a set order or rotated to achieve a folding effect, and overlap with each other to form a rotor mechanism assembly.

[0049] See also Figures 10 to 15 As shown, in the second implementation mode, the multi-rotor UAV 1 of the present invention includes a fuselage 10 and a plurality of rotor mechanisms 20 (as shown in the figure, it may include rotor mechanisms 20F and 20G) arranged on the fuselage 10. Each of the rotor mechanisms 20 includes a rotor 21. The multi-rotor UAV 1 also includes a plurality of connecting mechanisms 30 arranged on the fuselage 10, and the number of the connecting mechanisms 30 corresponds to the number of the rotor mechanisms 20. Each of the rotor mechanisms 20 is movably connected to the fuselage 10 through the corresponding connecting mechanism 30. The plurality of rotor mechanisms 20 rotate or rotate relative to their respective corresponding connecting mechanisms 30, and can overlap with each other to form a rotor mechanism assembly 2.

[0050] In one embodiment of the present invention, see Fig.11 and Fig.12 As shown, the connecting mechanism 30 includes a second connecting component movably connected to the fuselage 10 and a third connecting component movably connected to the second connecting component. The second connecting component can rotate along a second axial direction B, and the second axial direction B is inclined at a preset angle relative to the heading axis 11 of the multi-rotor drone 1. The third connecting component is connected to the rotor mechanism 20 and can rotate along a third axial direction C.

[0051] Optionally, the second connection assembly includes a second shaft 33 fixedly arranged on the fuselage 10 along the second axial direction B and a second connection seat 34 pivotally connected to the second shaft 33. The third connection assembly includes a first connection body 35 fixedly connected to the second connection seat 34 and a second connection body 36 movably connected to the first connection body 35 along the third axial direction C, and the second connection body 36 is connected to the rotor mechanism 20 and can rotate relative to the first connection body 35 along the third axial direction C. Further, the second axial direction B is perpendicular to the third axial direction C.

[0052] In one embodiment of the present invention, the number of the rotor mechanisms 20 is an odd number, and the plurality of rotor mechanisms 20 includes a main rotor mechanism and an even number of auxiliary rotor mechanisms. The main rotor mechanism and the even number of auxiliary rotor mechanisms rotate relative to the corresponding connection mechanisms 30, and can form the rotor mechanism assembly 2 together. Optionally, after the even number of auxiliary rotor mechanisms rotate relative to the corresponding connection mechanisms 30, they are symmetrically arranged on both sides of the main rotor mechanism, and form the rotor mechanism assembly 2 together with the main rotor mechanism.

[0053] exist Figures 10 to 15 In the example shown, the multi-rotor drone 1 is a three-rotor drone. Fig.10 As shown, the rotor mechanism 20F is a main rotor mechanism, and the two rotor mechanisms 20G are auxiliary rotor mechanisms. The preset angle formed between the axial line of the second rotating shaft 33 of the connecting mechanism 30 corresponding to the main rotor mechanism 20F and the heading axis 11 of the multi-rotor drone 1 is 90 degrees, and the preset angle formed between the axial line of the second rotating shaft 33 of the connecting mechanism 30 corresponding to the two auxiliary rotor mechanisms 20G and the heading axis 11 of the multi-rotor drone 1 is an acute angle. Optionally, the preset angle ranges from 35 degrees to 85 degrees.

[0054] When the three-rotor drone is folded, the second connection seat 34 of the connection mechanism 30 corresponding to the main rotor mechanism 20F is first rotated relative to the second rotating shaft 33 around the second axial direction B, thereby driving the main rotor mechanism 20F to rotate to the position as shown in FIG. Fig.13 Then, the second connecting body 36 of the connecting mechanism 30 corresponding to the main rotor mechanism 20F is rotated relative to the first connecting body 35 around the third axial direction C, thereby driving the main rotor mechanism 20F to rotate 90 degrees. Fig.14 Finally, the second connection seat 34 of the connection mechanism 30 corresponding to each of the two auxiliary rotor mechanisms 20G is rotated relative to the second rotating shaft 33 around the second axial direction B, thereby driving the two auxiliary rotor mechanisms 20G to rotate and overlap with the main rotor mechanism 20F to form the rotor mechanism assembly 2, completing the folding of the three-rotor drone, as shown. Fig.15 shown.

[0055] In one embodiment of the present invention, an even number of the auxiliary rotor mechanisms constitute a plurality of auxiliary rotor mechanism groups, and the auxiliary rotor mechanism group includes two auxiliary rotor mechanisms. After the two auxiliary rotor mechanisms of the auxiliary rotor mechanism group rotate relative to their respective corresponding connecting mechanisms, they are symmetrically arranged on both sides of the main rotor mechanism.

[0056] In another example of the present invention, the multi-rotor UAV is a five-rotor UAV, and the axial line of the second rotating shaft of the connecting mechanism corresponding to the two auxiliary rotor mechanisms of the first group of the auxiliary rotor mechanism groups is inclined at a first preset angle compared to the heading axis of the multi-rotor UAV, and the axial line of the second rotating shaft of the connecting mechanism corresponding to the two auxiliary rotor mechanisms of the second group of the auxiliary rotor mechanism groups is inclined at a second preset angle compared to the heading axis of the multi-rotor UAV.

[0057] Wherein, the preset angle formed between the axial line of the second rotating shaft of the connecting mechanism corresponding to the main rotor mechanism and the heading axis of the multi-rotor UAV is 90 degrees, the first preset angle formed between the axial line of the second rotating shaft of the connecting mechanism corresponding to the two auxiliary rotor mechanisms of the first group of the auxiliary rotor mechanism group and the heading axis of the multi-rotor UAV is an acute angle, and the second preset angle formed between the axial line of the second rotating shaft of the connecting mechanism corresponding to the two auxiliary rotor mechanisms of the second group of the auxiliary rotor mechanism group and the heading axis of the multi-rotor UAV is an acute angle. Optionally, the range of the first preset angle is 35 degrees to 85 degrees, or / and the range of the second preset angle is 35 degrees to 85 degrees.

[0058] When the five-rotor drone is folded, the second connection seat of the connection mechanism corresponding to the main rotor mechanism is first rotated relative to the second rotating shaft around the second axial direction, thereby driving the main rotor mechanism to rotate. Then, the second connector of the connection mechanism corresponding to the main rotor mechanism is rotated relative to the first connector around the third axial direction, thereby driving the main rotor mechanism to rotate 90 degrees. Finally, the second connection seats of the connection mechanisms corresponding to the two auxiliary rotor mechanisms of each of the multiple auxiliary rotor mechanism groups are rotated relative to the second axial direction around the second axial direction in turn, thereby driving the two auxiliary rotor mechanisms to rotate and overlap with the main rotor mechanism to form the rotor mechanism assembly, thereby completing the folding of the five-rotor drone.

[0059] A third implementation method: the connection mechanism includes a rotating mechanism disposed on the fuselage, the rotating mechanism being connected to the rotor mechanism to drive the rotor mechanism to rotate. Optionally, the rotating mechanism is a universal connection mechanism. In other words, the rotor mechanism is driven to rotate at any angle by the rotating mechanism, so that multiple rotor mechanisms rotate according to a set order and overlap each other to form a rotor mechanism assembly.

[0060] In a third implementation, the multi-rotor UAV of the present invention comprises a fuselage and a plurality of rotor mechanisms disposed on the fuselage. Each of the rotor mechanisms comprises a rotor. The multi-rotor UAV further comprises a plurality of connecting mechanisms disposed on the fuselage, and the number of the connecting mechanisms corresponds one-to-one to the number of the rotor mechanisms. Each connecting mechanism comprises a rotating mechanism disposed on the fuselage, and accordingly, the number of the rotating mechanisms also corresponds one-to-one to the number of the rotor mechanisms. Each of the rotor mechanisms is movably connected to the fuselage via the corresponding rotating mechanism. The plurality of rotor mechanisms rotate under the drive of the corresponding rotating mechanisms, and can overlap with each other to form a rotor mechanism assembly.

[0061] The embodiment of the present invention also shows a multi-rotor drone, comprising: a fuselage and four rotor mechanisms arranged on the fuselage, each of the rotor mechanisms comprising a rotor and a connecting mechanism. The four rotor mechanisms can respectively rotate around the corresponding connecting mechanism in a set order and overlap with each other to form a coaxial rotor mechanism assembly.

[0062] The four rotor mechanisms each constitute a first rotor mechanism group and a second rotor mechanism group, respectively. The first rotor mechanism group is located at the rear side of the fuselage in the deployed state, and the second rotor mechanism group is located at the front side of the fuselage in the deployed state.

[0063] (a) the second set of rotor mechanisms is stacked on the outside of the first set of rotor mechanisms in a folded state, or / and (b) the first set of rotor mechanisms is folded first and the second set of rotor mechanisms is folded later to complete the folding of the multi-rotor drone.

[0064] The multi-rotor UAV of the present invention has four rotor mechanisms that can respectively rotate around corresponding connecting mechanisms in a set order and overlap to form a coaxial rotor mechanism assembly, thereby achieving foldability of the multi-rotor UAV for portability. Furthermore, since the four rotor mechanisms overlap to form the rotor mechanism assembly, the volume of the multi-rotor UAV after folding is greatly reduced.

[0065] To sum up, in the multi-rotor UAV of the present invention, the multiple rotor mechanisms can respectively rotate around the corresponding first rotating shafts in a set order, and overlap with each other to form a coaxial rotor mechanism assembly, thereby realizing the foldability of the multi-rotor UAV for carrying, and since the multiple rotor mechanisms overlap with each other to form the rotor mechanism assembly, the volume of the multi-rotor UAV after folding is greatly reduced.

[0066] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprises a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0067] The method and device provided in the embodiments of the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

[0068] The disclosure of this patent document contains material that is subject to copyright protection. The copyright is reserved by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure as it exists in the official records and files of the Patent and Trademark Office.

Claims

1. A multi-rotor drone, characterized in that: include: body; as well as A plurality of rotor mechanisms are arranged on the fuselage, each of the rotor mechanisms comprising a rotor and a connecting mechanism; Among them, the connecting mechanism includes a first rotating shaft, and the multiple rotor mechanisms can rotate around the corresponding first rotating shaft in a set order, and overlap with each other to form a coaxial rotor mechanism assembly, and the axis of the coaxial rotor mechanism assembly is roughly perpendicular to the heading axis of the multi-rotor drone.

2. The multi-rotor drone according to claim 1, characterized in that: The angle formed between the axial line of at least one of the first rotating shafts and the heading axis of the multi-rotor drone is in the range of 35 degrees to 85 degrees.

3. The multi-rotor drone according to claim 1, characterized in that: The angle formed between the axial line of at least one of the first rotating shafts and the heading axis of the multi-rotor UAV is 90 degrees.

4. The multi-rotor drone according to claim 1, characterized in that: The first rotating shaft is fixed to the fuselage along the axial line of the first rotating shaft, and the connecting mechanism further includes a first connecting seat pivotally connected to the first rotating shaft, and the first connecting seat is connected to the rotor mechanism.

5. The multi-rotor drone according to claim 1, characterized in that: The connecting mechanism comprises a rotating mechanism arranged on the fuselage, and the rotating mechanism is connected to the rotor mechanism to drive the rotor mechanism to rotate.

6. The multi-rotor UAV according to claim 5, characterized in that: The rotating mechanism is a universal connection mechanism.

7. The multi-rotor UAV according to claim 1, characterized in that: Each rotor mechanism also includes a protective cover arranged outside the rotor, and the protective covers of multiple rotor mechanisms overlap with each other to form a column structure.

8. The multi-rotor UAV according to claim 7, characterized in that: The protective cover is a circular structure, and the rotor mechanism assembly is a cylindrical structure.

9. The multi-rotor UAV according to claim 7, characterized in that: The axis of the column structure is substantially perpendicular to the heading axis of the multi-rotor UAV.

10. The multi-rotor UAV according to claim 1, characterized in that: The number of the rotor mechanisms is an even number, and the even number of the rotor mechanisms constitutes a plurality of rotor mechanism groups. The rotor mechanism group includes two rotor mechanisms, and the two rotor mechanisms of the rotor mechanism group are symmetrically arranged on both sides of the fuselage in a deployed state.

11. The multi-rotor UAV according to any one of claims 1 to 10, characterized in that: It comprises four rotor mechanisms, and the four rotor mechanisms constitute a first rotor mechanism group and a second rotor mechanism group in pairs respectively.

12. The multi-rotor UAV according to claim 11, characterized in that: The first group of rotor mechanism groups is located at the rear side of the fuselage in the deployed state, and the second group of rotor mechanism groups is located at the front side of the fuselage in the deployed state.

13. The multi-rotor UAV according to claim 11, characterized in that: The second set of rotor mechanism groups is stacked on the outside of the first set of rotor mechanism groups in a folded state; and / or, The first set of rotor mechanism groups is folded first, and the second set of rotor mechanism groups is folded later, so as to complete the folding of the multi-rotor UAV.

14. The multi-rotor UAV according to claim 11, characterized in that: The number of the rotor mechanisms corresponds one-to-one to the number of the first rotating shafts. The two first rotating shafts corresponding to the first group of rotor mechanisms are symmetrically arranged relative to the heading axis of the multi-rotor UAV, and the two first rotating shafts corresponding to the second group of rotor mechanisms are symmetrically arranged relative to the heading axis of the multi-rotor UAV.

15. The multi-rotor UAV according to claim 11, characterized in that: The number of the rotor mechanisms corresponds one-to-one to the number of the first rotating shafts, and the two first rotating shafts corresponding to the first group of rotor mechanisms are closer to the heading axis of the multi-rotor UAV than the two first rotating shafts corresponding to the second group of rotor mechanisms.

16. A multi-rotor drone, characterized in that: include: body; as well as Four rotor mechanisms are arranged on the fuselage, each of which comprises a rotor and a connecting mechanism; The four rotor mechanisms can respectively rotate around the corresponding connecting mechanisms in a set order and overlap with each other to form a coaxial rotor mechanism assembly; The four rotor mechanisms respectively constitute a first rotor mechanism group and a second rotor mechanism group in pairs, wherein the first rotor mechanism group is located at the rear side of the fuselage in the unfolded state, and the second rotor mechanism group is located at the front side of the fuselage in the unfolded state; (a) the second set of rotor mechanisms is stacked on the outside of the first set of rotor mechanisms in a folded state, or / and (b) the first set of rotor mechanisms is folded first and the second set of rotor mechanisms is folded later to complete the folding of the multi-rotor drone.

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