A rotor drone based on spring folding mechanism

Abstract

The present invention relates to a rotary wing UAV, specifically a rotary wing UAV based on a spring folding mechanism, comprising a UAV body, wing arms separately fixed at the four corners of the shell of the UAV body, and a motor installed at one end of the wing arm. The present invention is provided with four groups of control structures on the UAV body, and can synchronously adjust the four groups of foldable propeller structures through the control structures, and an elastic connector is provided between the first propeller blade and the second propeller blade. During the adjustment process of the control structure, the elastic connector will elastically stretch or rebound, and the elastic stretching or rebounding force of the elastic connector acts between the first propeller blade and the second propeller blade, so that the second propeller blade rotates relative to the first propeller blade, and the second propeller blade and the first propeller blade can be kept overlapping and folded, or the second propeller blade and the first propeller blade can be kept separately on both sides of the motor output shaft and unfolded.

Description

Technical Field

[0001] The invention relates to a rotary-wing UAV, in particular to a rotary-wing UAV based on a spring folding mechanism. Background Art

[0002] A drone is an aircraft that can fly autonomously or remotely without a human pilot. A rotorcraft is a type of drone. Rotorcraft drones are unmanned aerial vehicles that rely on rotating propellers (or rotors) to generate lift and thrust. They are often called multi-rotor drones. Common types include quadrotors (four propellers), hexacopters (six propellers) and octorotors (eight propellers). Rotorcraft drones have been widely used in multiple industries due to their simple structure and maneuverability, showing good development prospects.

[0003] When the current rotorcraft drone is in use, in order to facilitate storage and carrying, the propellers are folded to reduce the space occupied by the propellers, thereby reducing the overall space occupied. Before the rotorcraft drone takes off, corresponding pre-takeoff preparations need to be made. Unfolding the folded propellers one by one is a crucial step in the preparation work. The unfolded propellers affect the stable takeoff of the rotorcraft drone. When the folded propellers of the existing rotorcraft drone are unfolded, the operator needs to unfold the four sets of propellers one by one, and when they are subsequently folded and stored, the operator also needs to fold and store the four sets of propellers one by one, thereby increasing the workload during takeoff or storage and affecting the preparation time before flight. Summary of the invention

[0004] The object of the present invention is to provide a rotor UAV based on a spring folding mechanism to solve the problems raised in the above background technology.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A spring-folding mechanism-based rotary-wing UAV comprises a UAV body, wing arms separately fixed at four corners of a housing of the UAV body, and a motor installed at one end of the wing arms;

[0007] The output shaft of the motor is connected to a foldable propeller structure, and the foldable propeller structure includes a first propeller blade fixedly connected to the output shaft of the motor, and a second propeller blade rotatable around the axis of the output shaft of the motor relative to the first propeller blade;

[0008] The second propeller blade rotates relative to the first propeller blade, and the second propeller blade and the first propeller blade are kept overlapped and folded, or the second propeller blade and the first propeller blade are kept arranged on both sides of the motor output shaft and unfolded;

[0009] An elastic connector is provided between the first propeller blade and the second propeller blade, and a control structure for controlling the second propeller blades and the first propeller blades in the four groups of foldable propeller structures to overlap, fold or unfold with each other is also provided on the drone body.

[0010] The above-mentioned rotor UAV based on the spring folding mechanism: the control structure includes a rotating structure arranged on the UAV body, a lifting and adjusting structure sleeved and connected to the motor, and a transmission structure connected between the rotating structure and the lifting and adjusting structure;

[0011] The lifting and lowering adjustment structure includes a connecting mechanism and a linkage mechanism;

[0012] The connection mechanism comprises a transmission shaft fixedly connected to the output shaft of the motor and a rotating cylinder rotatably sleeved on the outside of the transmission shaft.

[0013] The above-mentioned rotor drone based on the spring folding mechanism: the top of the transmission shaft is fixedly connected with a fixing seat, the outer wall of the transmission shaft is provided with four vertical notches in a circumferential array, and the fixing seat is fixedly connected to one end of the first propeller blade;

[0014] A limit block is fixedly provided on the top of the rotating cylinder, and sliding paths are formed on the rotating cylinder at both ends of the limit block. The second propeller blade slides on the sliding path, and the limit block conflicts with the second propeller blade on the side away from the rotation direction. An arc groove is provided on the inner wall of the rotating cylinder, and the top of the rotating cylinder is fixedly connected to one end of the second propeller blade.

[0015] As described above, in the rotor UAV based on the spring folding mechanism: the elastic connecting member includes a first connecting column fixed on the first propeller blade on the side of the center line, a second connecting column fixed on the second propeller blade, and a hook spring whose two ends are connected to the first connecting column and the second connecting column.

[0016] The above-mentioned rotor drone based on the spring folding mechanism: the linkage mechanism includes a sleeve slidably sleeved between the outer wall of the transmission shaft and the inner wall of the rotating cylinder, a resisting ball rotating on the outer wall of the sleeve and a rotating groove fixed on the bottom of the sleeve;

[0017] The inner wall of the sleeve is integrally formed with a protrusion corresponding to the vertical notch on the outer wall of the transmission shaft, and the protrusion is slidably connected to the vertical notch;

[0018] The abutment ball slides and abuts in the arc groove.

[0019] The above-mentioned rotor drone based on the spring folding mechanism: the linkage mechanism also includes a rotating ring rotatably sleeved on the outside of the rotating groove, four connecting frames circumferentially distributed and fixed to the outer wall of the rotating ring, and a collar vertically arranged below the connecting frame;

[0020] The inner ring of the rotating ring is provided with a plurality of balls in an annular array, and the balls roll and contact with corresponding matching grooves provided on the rotating groove;

[0021] The four connecting frames are fixedly connected to the collar via four connecting rods. The collar is slidably sleeved on the periphery of the motor. The first rotating shaft is symmetrically fixedly connected to both sides of the collar.

[0022] The above-mentioned rotor drone based on the spring folding mechanism: the transmission structure includes a Y-shaped frame, a threaded sleeve arranged at one end of the Y-shaped frame, and a screw threadedly connected to the threaded sleeve;

[0023] The Y-shaped frame has first sliding grooves symmetrically formed on both sides of one end of the Y-shape, the first sliding grooves being slidably connected to the first rotating shaft, a connecting hole being formed on the Y-shaped frame, a second sliding groove being formed on the other end of the Y-shaped frame, and third sliding grooves being formed on the Y-shaped frame at both sides of the second sliding groove;

[0024] The threaded sleeve is slidably connected in the second sliding groove, the threaded sleeve is symmetrically fixedly connected with a second rotating shaft on both sides, the second rotating shaft is slidably connected in the third sliding groove, the bottom of the screw is rotatably connected to the wing arm, the top of the screw is rotatably connected to the fixed block, the fixed block is fixedly connected to the shell of the drone body, and the top of the screw is fixedly connected to a gear plate;

[0025] The connecting hole is rotatably connected to the rotating rod, the rotating rod is fixedly connected to the first mounting seat, and the first mounting seat is mounted on the wing arm through bolts.

[0026] The rotor drone based on the spring folding mechanism as described above: the rotating structure comprises a first rotating disk and four sliding plates arranged in a circular array below the first rotating disk;

[0027] A center column is fixedly connected to the bottom center of the first rotating disk, and four arc guide grooves are distributed on the first rotating disk along the outer circumference of the center column. The arc guide grooves are rotatably connected to the center of the top shell of the drone body, and a second rotating disk is fixedly connected to the top of the first rotating disk.

[0028] The rotor drone based on the spring folding mechanism as described above: a notch is provided on one side below the sliding plate, a tooth groove is provided on the sliding plate on one side of the inner wall of the notch, the tooth groove is meshed with the gear plate, a limiting groove is provided at the vertical center of the sliding plate, and a connecting column is fixedly connected to the top center of one end of the sliding plate away from the tooth groove;

[0029] The limiting groove is slidably connected to the guide rod, the guide rod is fixedly connected to the second mounting seat, and the second mounting seat is mounted on the shell of the drone body by bolts;

[0030] The connecting column is slidably connected in the arc-shaped guide groove.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The present invention is capable of synchronously adjusting the four sets of foldable propeller structures by arranging four sets of control structures on the main body of the unmanned aerial vehicle. An elastic connecting member is arranged between the first propeller blade and the second propeller blade. During the adjustment process of the control structure, the elastic connecting member will elastically stretch or rebound. The elastic stretching or rebounding force of the elastic connecting member acts between the first propeller blade and the second propeller blade, so that the second propeller blade rotates relative to the first propeller blade, and the second propeller blade and the first propeller blade can be kept overlapping and folded with each other, or the second propeller blade and the first propeller blade can be kept arranged on both sides of the motor output shaft and unfolded, thereby realizing synchronous unfolding or folding adjustment of the four sets of foldable propeller structures, improving the preparation efficiency of the rotorcraft unmanned aerial vehicle before takeoff, or facilitating storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the structure of a rotor UAV based on a spring folding mechanism.

[0034] Figure 2 This is a schematic diagram of the structure of a rotor UAV based on a spring folding mechanism, viewed from above.

[0035] Figure 3 It is a schematic diagram of the structure of the drone body in a rotor drone based on a spring folding mechanism.

[0036] Figure 4 for Figure 2 Schematic diagram of the structure after the wing wall is split based on the wing wall.

[0037] Figure 5 for Figure 4 Schematic diagram of the structure after partial decomposition based on .

[0038] Figure 6 The schematic diagram of the structure of the foldable propeller structure in the rotor UAV based on the spring folding mechanism.

[0039] Figure 7 This is a schematic diagram of the structure of the connection mechanism in a rotor UAV based on a spring folding mechanism.

[0040] Figure 8 for Figure 7 Schematic diagram of the structure decomposed based on .

[0041] Fig. 9 This is a schematic diagram of the structure of the rotating cylinder in a rotor UAV based on a spring folding mechanism.

[0042] Fig.10 This is a schematic diagram of the decomposed structure of the linkage mechanism in a rotor UAV based on a spring folding mechanism.

[0043] Fig.11 This is a schematic diagram of the partially decomposed structure of the linkage mechanism in a rotor UAV based on a spring folding mechanism.

[0044] Fig.12 It is a structural schematic diagram of the transmission structure in a rotor UAV based on a spring folding mechanism.

[0045] Fig.13 It is a structural schematic diagram of the decomposition of the transmission structure in the rotor UAV based on the spring folding mechanism.

[0046] Fig.14 Schematic diagram of the structure of the sliding plate in a rotor UAV based on a spring folding mechanism.

[0047] Fig.15 for Fig.14 A schematic diagram of the structure in another direction.

[0048] Fig.16 This is a schematic diagram of the structure of the guide rod in a rotor UAV based on a spring folding mechanism.

[0049] Fig.17 This is a schematic diagram of the structure of the limit slot in a rotor UAV based on a spring folding mechanism.

[0050] Fig.18 It is a schematic diagram of the structure of the rotating structure in the rotor UAV based on the spring folding mechanism.

[0051] Fig.19 The diagram is a structural diagram of the first rotating disk in a rotor UAV based on a spring folding mechanism.

[0052] Fig. 20 Schematic diagram of the structure of the elastic connector in a rotorcraft UAV based on the spring folding mechanism.

[0053] In the figure: 1. UAV body; 2. Wing arm; 3. Motor; 4. Transmission shaft; 5. Fixing seat; 6. First propeller blade; 7. First connecting column; 8. Rotating cylinder; 9. Limiting block; 10. Sliding path; 11. Arc groove; 12. Second propeller blade; 13. Second connecting column; 14. Hook spring; 15. Sleeve; 16. Resistance ball; 17. Rotating groove; 18. Rotating ring; 19. Connecting frame; 20. Connecting rod; 21. Sleeve ring; 22. First rotating shaft; 23. Y The frame comprises: 24, a first sliding groove; 25, a connecting hole; 26, a second sliding groove; 27, a third sliding groove; 28, a first mounting seat; 29, a rotating rod; 30, a threaded sleeve; 31, a second rotating shaft; 32, a screw rod; 33, a gear plate; 34, a fixing block; 35, a sliding plate; 36, a tooth groove; 37, a limiting groove; 38, a connecting column; 39, a second mounting seat; 40, a guide rod; 41, a first rotating disk; 42, a center column; 43, an arc-shaped guide groove; 44, a second rotating disk. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0055] See also Figures 1 to 20 In an embodiment of the present invention, a rotor drone based on a spring folding mechanism comprises a drone body 1, wing arms 2 respectively fixed at four corners of a shell of the drone body 1, and a motor 3 installed at one end of the wing arm 2;

[0056] The output shaft of the motor 3 is connected to a foldable propeller structure, and the foldable propeller structure includes a first propeller blade 6 fixedly connected to the output shaft of the motor 3, and a second propeller blade 12 rotatable around the axis of the output shaft of the motor 3 relative to the first propeller blade 6;

[0057] The second propeller blade 12 rotates relative to the first propeller blade 6, and the second propeller blade 12 and the first propeller blade 6 are kept overlapped and folded, or the second propeller blade 12 and the first propeller blade 6 are kept arranged on both sides of the output shaft of the motor 3 and unfolded;

[0058] An elastic connector is provided between the first propeller blade 6 and the second propeller blade 12, and the drone body 1 is also provided with a control structure for controlling the second propeller blades 12 and the first propeller blades 6 in the four groups of foldable propeller structures to overlap, fold or unfold with each other.

[0059] In this embodiment, when the control structure is adjusted, the four groups of foldable propeller structures on the drone body 1 can be controlled to move synchronously at the same time. An elastic connector is provided between the first propeller blade 6 and the second propeller blade 12. Through the elastic effect of the elastic connector, when the control structure is adjusted, the second propeller blade 12 can be rotated relative to the first propeller blade 6, so that the second propeller blade 12 and the first propeller blade 6 overlap and fold or unfold on both sides of the output shaft of the motor 3.

[0060] When the rotor drone is preparing for takeoff or before storage, the four groups of foldable propeller structures on the drone body 1 can be synchronously expanded or folded and retracted by adjusting the control structure. When the foldable propeller structures are synchronously expanded, it can reduce the operator's need to adjust the multiple groups of propellers one by one before the rotor drone takes off, thereby shortening the preparations before the rotor drone takes off. When the rotor drone is stored, the four groups of foldable propeller structures can be synchronously folded and adjusted by the control structure, thereby reducing the steps of folding the multiple groups of propellers before the rotor drone is stored. By folding the propellers, the space occupied by the propellers can be reduced, which facilitates the storage, carrying and use of the rotor drone and improves its convenience.

[0061] As a further solution of the present invention, the control structure includes a rotating structure arranged on the drone body 1, a lifting and adjusting structure sleeved and connected to the motor 3, and a transmission structure connected between the rotating structure and the lifting and adjusting structure;

[0062] The lifting and lowering adjustment structure includes a connecting mechanism and a linkage mechanism;

[0063] The connection mechanism includes a transmission shaft 4 fixedly connected to the output shaft of the motor 3 and a rotating cylinder 8 rotatably sleeved on the outside of the transmission shaft 4 .

[0064] In this embodiment, by rotationally adjusting the rotating structure, the transmission structure connected to the rotating structure can be moved, and the transmission structure transmits the force of the rotating structure to the lifting and adjusting structure, thereby enabling the lifting and adjusting structure to move. When the lifting and adjusting structure moves, the connecting mechanism causes the linkage mechanism to move, thereby enabling the rotating cylinder 8 to be rotationally adjusted on the outside of the transmission shaft 4, so that the propeller can be rotationally adjusted.

[0065] As a further solution of the present invention, a fixing seat 5 is fixedly connected to the top of the transmission shaft 4, and four vertical slots are arranged in a circumferential array on the outer wall of the transmission shaft 4, and the fixing seat 5 is fixedly connected to one end of the first propeller blade 6;

[0066] A limit block 9 is fixedly provided on the top of the rotating cylinder 8, and sliding paths 10 are formed on the rotating cylinder 8 at both ends of the limit block 9. The second propeller blade 12 slides on the sliding path 10, and the limit block 9 conflicts with the second propeller blade 12 on the side away from the rotation direction. An arc groove 11 is provided on the inner wall of the rotating cylinder 8, and the top of the rotating cylinder 8 is fixedly connected to one end of the second propeller blade 12.

[0067] In this embodiment, the first propeller blade 6 is fixed on the fixing seat 5, and the fixing seat 5 is fixed on the transmission shaft 4, and the transmission shaft 4 is fixed on the output shaft of the motor 3. When the second propeller blade 12 rotates along the axis of the motor 3 relative to the first propeller blade 6, the first propeller blade 6 remains relatively stationary, and the rotating cylinder 8 rotates on the outside of the transmission shaft 4, so that the second propeller blade 12 and the first propeller blade 6 are folded or unfolded with each other. When the second propeller blade 12 and the first propeller blade 6 are unfolded, the side of the second propeller blade 12 that is away from the rotation direction abuts against the limit On the positioning block 9, when the second propeller blade 12 rotates and folds, the second propeller blade 12 will rotate along the sliding path 10, so that the second propeller blade 12 can overlap with part of the first propeller blade 6 to achieve folding. At this time, the second propeller blade 12 rotates to the side of the rotation direction of the propeller. When explaining here, the spiral direction of the arc groove 11 opened on the inner wall of the rotating cylinder 8 is the same as the spiral direction of rotation and unfolding of the second propeller blade 12. Through the coordinated design, the unfolding and folding adjustment of the second propeller blade 12 and the first propeller blade 6 can be realized.

[0068] As a further solution of the present invention, the elastic connecting member includes a first connecting column 7 fixed on the first propeller blade 6 on one side of the center line, a second connecting column 13 fixed on the second propeller blade 12, and a hook spring 14 connected at both ends to the first connecting column 7 and the second connecting column 13.

[0069] In this embodiment, the first connecting column 7 is arranged on the first propeller blade 6 at one side of the axis, as shown in the connecting rod 20, and point A in the figure is the position of the maximum stretching amount of the hook spring 14. When the first propeller blade 6 is stationary, the hook spring 14 moves to the second connecting column 13 as the second propeller blade 12 rotates. At this time, the hook spring 14 deviates from the maximum stretching position of point A. Under the action of the hook spring 14, the second propeller blade 12 rotates clockwise about the axis of the motor 3, so that the second propeller blade 12 deviates from the rotation direction of the propeller blade. One side of the second propeller blade 12 abuts against the limit block 9, and the limit block 9 limits the position of one side of the second propeller blade 12. At this time, the second propeller blade 12 can no longer rotate clockwise. At this time, the propeller blade is in an unfolded state, and a counterclockwise driving force is applied to the second propeller blade 12, so that when the second connecting column 13 passes point A, the force of the hook spring 14 causes the second propeller blade 12 to quickly rotate counterclockwise with the axis of the motor 3 to the position folded with the first propeller blade 6, and the first propeller blade 6 and the second propeller blade 12 can be unfolded or folded through the elastic connecting piece.

[0070] As a further solution of the present invention, the linkage mechanism includes a sleeve 15 slidably sleeved between the outer wall of the transmission shaft 4 and the inner wall of the rotating cylinder 8, a resisting ball 16 rotating on the outer wall of the sleeve 15 and a rotating groove 17 fixed on the bottom of the sleeve 15;

[0071] The inner wall of the sleeve 15 is integrally formed with a protrusion that is adapted to the vertical notch on the outer wall of the transmission shaft 4, and the protrusion is slidably connected to the vertical notch;

[0072] The abutment ball 16 slides and abuts in the arc groove 11 .

[0073] In this embodiment, the arc groove 11 on the inner wall of the rotating cylinder 8 is opened counterclockwise from top to bottom. When a downward force is applied to the sleeve 15, the resistance ball 16 slides along the route of the arc groove 11. Since the protrusion set on the inner wall of the sleeve 15 is slidably connected with the vertical groove on the outer wall of the transmission shaft 4, the sleeve 15 can only be adjusted by vertical sliding on the transmission shaft 4, thereby forcing the rotating cylinder 8 to rotate on the outer wall of the sleeve 15. Therefore, when the sleeve 15 moves downward, the rotating cylinder 8 can be rotated counterclockwise, so that the second propeller blade 12 rotates and folds the first propeller blade 6. When the sleeve 15 moves upward, the second propeller blade 12 can be rotated and unfolded, thereby achieving the effect of convenient unfolding or folding of the propeller.

[0074] As a further solution of the present invention, the linkage mechanism further comprises a rotating ring 18 rotatably sleeved on the outer side of the rotating groove 17, four connecting frames 19 circumferentially distributed and fixed to the outer wall of the rotating ring 18, and a collar 21 vertically arranged below the connecting frame 19;

[0075] The inner ring of the rotating ring 18 is provided with a plurality of balls in an annular array, and the balls roll against the corresponding matching grooves provided on the rotating groove 17;

[0076] The four connecting frames 19 are fixedly connected to the collar 21 via four connecting rods 20 . The collar 21 is slidably sleeved on the periphery of the motor 3 . The first rotating shaft 22 is symmetrically fixedly connected to both sides of the collar 21 .

[0077] In this embodiment, since the sleeve 15 and the transmission shaft 4 are restricted by the protrusions and the vertical notches, the sleeve 15 cannot rotate on the transmission shaft 4. Therefore, when the output shaft of the motor 3 drives the transmission shaft 4 to rotate, the sleeve 15 rotates together with the transmission shaft 4. At this time, the rotating groove 17 at the bottom of the sleeve 15 and the rotating ring 18 are rotatably connected through a plurality of ball bearings. Therefore, when the rotating groove 17 rotates, the rotating ring 18 will not limit the rotation of the rotating groove 17, and the rotating ring 18 can still give the rotating groove 17 a downward or upward adjustment force to ensure a mating connection.

[0078] As a further solution of the present invention, the transmission structure includes a Y-shaped frame 23, a threaded sleeve 30 disposed at one end of the Y-shaped frame 23, and a screw 32 threadedly connected to the threaded sleeve 30;

[0079] The Y-shaped frame 23 has first sliding grooves 24 symmetrically formed on both sides of one end of the Y-shape, and the first sliding grooves 24 are slidably connected to the first rotating shaft 22. The Y-shaped frame 23 has a connecting hole 25, and the other end of the Y-shaped frame 23 has a second sliding groove 26 formed thereon, and the Y-shaped frame 23 has third sliding grooves 27 formed on both sides of the second sliding groove 26.

[0080] The threaded sleeve 30 is slidably connected in the second sliding groove 26, and the second rotating shaft 31 is symmetrically fixedly connected on both sides of the threaded sleeve 30. The second rotating shaft 31 is slidably connected in the third sliding groove 27. The bottom of the screw rod 32 is rotatably connected to the wing arm 2, and the top of the screw rod 32 is rotatably connected to the fixing block 34. The fixing block 34 is fixedly connected to the shell of the drone body 1, and the top of the screw rod 32 is fixedly connected to the gear plate 33;

[0081] The connection hole 25 is rotatably connected to the rotation rod 29 , and the rotation rod 29 is fixedly connected to the first mounting seat 28 , and the first mounting seat 28 is mounted on the wing arm 2 by bolts.

[0082] In this embodiment, when the screw rod 32 is rotated and adjusted, the threaded sleeve 30 threadedly connected thereto can be moved. Since the second rotating shafts 31 fixedly arranged on both sides of the threaded sleeve 30 are slidably connected in the third sliding groove 27, and the limiting protrusions arranged at the positions where the second rotating shaft 31 and the Y-shaped frame 23 at the third sliding groove 27 abut against each other, the second rotating shaft 31 is limited to tilt and slide in the third sliding groove 27. Therefore, when the screw rod 32 is rotated, the threaded sleeve 30 will not rotate on its own, so that the threaded sleeve 30 can be adjusted up and down on the screw rod 32. When the threaded sleeve 30 is adjusted up and down, the Y-shaped frame 23 can be tilted and adjusted at both ends with the rotation point of the connecting hole 25 on the rotating rod 29 as the center of the circle. Therefore, when the threaded sleeve 30 rises, the Y-shaped frame 23 at one end of the Y-shaped frame descends, and when the threaded sleeve 30 descends on the screw rod 32, the Y-shaped frame 23 at one end of the Y-shaped frame rises, thereby providing a force for the collar 21 to rise or fall, thereby satisfying the linkage adjustment of the folding and unfolding of the propeller.

[0083] As a further solution of the present invention, the rotating structure includes a first rotating disk 41 and four sliding plates 35 arranged in an annular array below the first rotating disk 41;

[0084] A center column 42 is fixedly connected to the bottom center of the first rotating disk 41, and four arc guide grooves 43 are distributed on the first rotating disk 41 along the outer circumference of the center column 42. The arc guide grooves 43 are rotatably connected to the center of the top shell of the drone body 1, and a second rotating disk 44 is fixedly connected to the top of the first rotating disk 41.

[0085] In this embodiment, the second rotating disk 44 is fixedly arranged on the first rotating disk 41, which can prevent debris from falling into the arc guide groove 43, thereby affecting the rotation of the first rotating disk 41 and improving the protective effect. The center column 42 is rotatably connected to the top shell of the drone body 1 to ensure the connection effect of the structure on the drone body 1 and meet the requirements of use.

[0086] As a further solution of the present invention, a notch is provided on one side of the lower side of the sliding plate 35, and a tooth groove 36 is provided on the sliding plate 35 on one side of the inner wall of the notch, and the tooth groove 36 is meshed with the gear plate 33. A limiting groove 37 is provided at the vertical center of the sliding plate 35, and a connecting column 38 is fixedly connected to the top center of the end of the sliding plate 35 away from the tooth groove 36;

[0087] The limiting groove 37 is slidably connected to the guide rod 40, and the guide rod 40 is fixedly connected to the second mounting seat 39, and the second mounting seat 39 is mounted on the shell of the drone body 1 by bolts;

[0088] The connecting post 38 is slidably connected in the arc-shaped guiding groove 43 .

[0089] In this embodiment, when the first rotating disk 41 is rotated and adjusted, the arc-shaped guide groove 43 provided on the first rotating disk 41 is slidably connected with the connecting column 38, the connecting column 38 is fixedly arranged on the sliding plate 35, the limiting groove 37 provided on the sliding plate 35, and the limiting groove 37 is slidably connected with the guide rod 40, the guide rod 40 is used to guide the sliding of the sliding plate 35 to prevent the sliding plate 35 from deviating when sliding, and the sliding plate 35 is provided with a tooth groove 36. Therefore, when the first rotating disk 41 is rotated and adjusted, the arc-shaped guide groove 43 can push the connecting column 38 away from or close to the center of the first rotating disk 41, so that the sliding plate 35 moves away from or close to the center of the first rotating disk 41 in a straight line. Near the center of the first rotating disk 41, when the sliding plate 35 slides and adjusts, the tooth groove 36 can engage the gear disk 33 to rotate, so that the threaded sleeve 30 fixedly connected to the gear disk 33 is rotated to achieve adjustment. It is explained here that when the propeller is unfolded, the connecting column 38 is close to the center of the first rotating disk 41, which can prevent the sliding plate 35 from extending to the outside of the top shell of the drone body 1, thereby increasing the wind resistance of the rotor drone. When the propeller is folded, the first rotating disk 41 is rotated to make the connecting column 38 away from the center of the first rotating disk 41. At this time, the propeller is folded to reduce the space occupied.

[0090] The above embodiments are exemplary rather than restrictive, so the technical solutions of the present invention that can be implemented in other specific forms without departing from the spirit or basic features of the present invention are all included in the present invention.

Claims

1. A rotor drone based on a spring folding mechanism, comprising a drone body (1), wing arms (2) fixed at four corners of the shell of the drone body (1), and a motor (3) installed at one end of the wing arm (2), characterized in that ； The output shaft of the motor (3) is connected to a foldable propeller structure, and the foldable propeller structure comprises a first propeller blade (6) fixedly connected to the output shaft of the motor (3), and a second propeller blade (12) rotatable relative to the first propeller blade (6) around the axis of the output shaft of the motor (3); The second propeller blade (12) rotates relative to the first propeller blade (6), and the second propeller blade (12) and the first propeller blade (6) are kept overlapped and folded, or the second propeller blade (12) and the first propeller blade (6) are kept arranged on both sides of the output shaft of the motor (3) and unfolded; An elastic connecting piece is provided between the first propeller blade (6) and the second propeller blade (12), and the drone body (1) is also provided with a control structure for controlling the second propeller blades (12) and the first propeller blades (6) in the four groups of foldable propeller structures to overlap, fold or unfold with each other.

2. A rotor UAV based on a spring folding mechanism according to claim 1, characterized in that: The control structure comprises a rotating structure arranged on the drone body (1), a lifting and lowering adjustment structure sleeved and connected to the motor (3), and a transmission structure connected between the rotating structure and the lifting and lowering adjustment structure; The lifting and lowering adjustment structure includes a connecting mechanism and a linkage mechanism; The connection mechanism comprises a transmission shaft (4) fixedly connected to the output shaft of the motor (3) and a rotating cylinder (8) rotatably sleeved on the outside of the transmission shaft (4).

3. A rotor UAV based on a spring folding mechanism according to claim 2, characterized in that: The top of the transmission shaft (4) is fixedly connected with a fixing seat (5), the outer wall of the transmission shaft (4) is provided with four vertical slots in a circumferential array, and the fixing seat (5) is fixedly connected to one end of the first propeller blade (6); A limit block (9) is fixedly arranged at the top of the rotating cylinder (8), and sliding paths (10) are formed on the rotating cylinder (8) at both ends of the limit block (9). The second propeller blade (12) slides on the sliding path (10), and the limit block (9) abuts against the second propeller blade (12) on the side away from the rotation direction. An arc groove (11) is provided on the inner wall of the rotating cylinder (8), and the top of the rotating cylinder (8) is fixedly connected to one end of the second propeller blade (12).

4. A rotor UAV based on a spring folding mechanism according to claim 1, characterized in that: The elastic connecting member comprises a first connecting column (7) fixed to the first propeller blade (6) on one side of the center line, a second connecting column (13) fixed to the second propeller blade (12), and a hook spring (14) with two ends connected to the first connecting column (7) and the second connecting column (13).

5. The rotor UAV based on the spring folding mechanism according to claim 2, characterized in that: The linkage mechanism comprises a sleeve (15) slidably sleeved between the outer wall of the transmission shaft (4) and the inner wall of the rotating cylinder (8), a resisting ball (16) rotating on the outer wall of the sleeve (15), and a rotating groove (17) fixed at the bottom of the sleeve (15); The inner wall of the sleeve (15) is integrally formed with a protrusion that is adapted to correspond to the vertical notch on the outer wall of the transmission shaft (4), and the protrusion is slidably connected to the vertical notch; The abutting ball (16) slides and abuts in the arc-shaped groove (11).

6. A rotor UAV based on a spring folding mechanism according to claim 5, characterized in that: The linkage mechanism further comprises a rotating ring (18) rotatably sleeved on the outside of the rotating groove (17), four connecting frames (19) circumferentially distributed and fixed to the outer wall of the rotating ring (18), and a sleeve ring (21) vertically arranged below the connecting frame (19); The inner ring of the rotating ring (18) is provided with a plurality of balls in an annular array, and the balls roll and abut against corresponding matching grooves provided on the rotating groove (17); The four connecting frames (19) are fixedly connected to the collar (21) via four connecting rods (20); the collar (21) is slidably sleeved on the periphery of the motor (3); and the first rotating shaft (22) is symmetrically fixedly connected to both sides of the collar (21).

7. A rotor UAV based on a spring folding mechanism according to claim 2, characterized in that: The transmission structure comprises a Y-shaped frame (23), a threaded sleeve (30) arranged at one end of the Y-shaped frame (23), and a screw (32) threadedly connected to the threaded sleeve (30); The Y-shaped frame (23) has first sliding grooves (24) symmetrically formed on both sides of one end of the Y-shape, the first sliding groove (24) being slidably connected to the first rotating shaft (22), a connecting hole (25) formed on the Y-shaped frame (23), a second sliding groove (26) formed on the other end of the Y-shaped frame (23), and third sliding grooves (27) formed on the Y-shaped frame (23) at both sides of the second sliding groove (26); The threaded sleeve (30) is slidably connected in the second sliding groove (26), the threaded sleeve (30) is symmetrically fixedly connected with a second rotating shaft (31) on both sides, the second rotating shaft (31) is slidably connected in the third sliding groove (27), the bottom of the screw rod (32) is rotatably connected to the wing arm (2), the top of the screw rod (32) is rotatably connected to the fixed block (34), the fixed block (34) is fixedly connected to the shell of the drone body (1), and the top of the screw rod (32) is fixedly connected to a gear plate (33); The connection hole (25) is rotatably connected to a rotating rod (29), the rotating rod (29) is fixedly connected to a first mounting seat (28), and the first mounting seat (28) is mounted on the wing arm (2) by means of bolts.

8. The rotor UAV based on spring folding mechanism according to claim 2, characterized in that: The rotating structure comprises a first rotating disk (41) and four sliding plates (35) arranged in an annular array below the first rotating disk (41); A center column (42) is fixedly connected to the bottom center of the first rotating disk (41), and four arc-shaped guide grooves (43) are distributed on the first rotating disk (41) along the outer circumference of the center column (42). The arc-shaped guide grooves (43) are rotatably connected to the center of the top shell of the drone body (1), and a second rotating disk (44) is fixedly connected to the top of the first rotating disk (41).

9. A rotor UAV based on a spring folding mechanism according to claim 8, characterized in that: A notch is provided on one side below the sliding plate (35), a tooth groove (36) is provided on the sliding plate (35) on one side of the inner wall of the notch, the tooth groove (36) is meshed with the gear plate (33), a limiting groove (37) is provided at the center of the sliding plate (35) in the vertical direction, and a connecting column (38) is fixedly connected to the top center of one end of the sliding plate (35) away from the tooth groove (36); The limiting groove (37) is slidably connected to the guide rod (40), the guide rod (40) is fixedly connected to the second mounting seat (39), and the second mounting seat (39) is mounted on the shell of the drone body (1) by bolts; The connecting column (38) is slidably connected in the arc-shaped guide groove (43).

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