Rotor wing rapid folding and unfolding mechanism

Abstract

The invention discloses a quick folding and unfolding mechanism for a rotor wing. The quick folding and unfolding mechanism comprises a bottom plate, a rotating plate, an arc-shaped elastic metal sheet and a driving mechanism, a rotating plate is rotationally arranged on the bottom plate through a first rotating shaft, and the rotating plate rotates on the bottom plate to achieve folding and unfolding. Two ends of the arc-shaped elastic metal sheet are rotationally arranged on the bottom plate and the rotating plate through a second rotating shaft and a third rotating shaft respectively; the arc-shaped elastic metal sheet provides an energy barrier for maintaining the stable form through elastic force when the rotating plate is in the folded and unfolded form; the driving mechanism comprises a temperature control memory spring arranged between the bottom plate and the rotating plate and a power supply module for providing heat for the bottom plate and the rotating plate; the temperature control memory spring is shortened after being heated, the rotating plate is driven to rotate through force generated by shortening, and the temperature control memory spring comprises a folding spring and an unfolding spring; according to the invention, the bistable structure design is adopted, the folding and unfolding two stable states can be switched, the required space is small, and the weight is light.

Description

Technical Field

[0001] The invention relates to the field of mechanical technology, and in particular to a rotor rapid folding and unfolding mechanism. Background Art

[0002] The commonly used drones are rotary-wing drones, in which the rotors are located outside the drones, occupying a large space. They are prone to collisions with high-altitude buildings or trees during flight, resulting in damage to the drone rotors or crashes. The existing technology generally uses ultrasonic, infrared, laser radar and other methods to detect obstacles in advance, process data, and then plan obstacle avoidance paths. However, in an emergency, drones lack an emergency avoidance method and cannot avoid or retract the fragile rotors in an emergency.

[0003] In the prior art, there are drones with foldable rotors, which can be folded up for protection during transportation, but cannot be folded during flight; in addition, there are also mechanisms for unfolding and folding in the prior art, which are generally driven by motors, but the motors are heavy and large in size, and will increase the load burden of drones when used in the field of drones; on the other hand, their folding and unfolding deformation is relatively slow, and they cannot achieve rapid morphological transformation and cannot use some functions. Realizing rapid response and deformation under small weight and volume constraints is crucial to improving the overall performance of variable structure drones, and has important research significance and application value.

[0004] Therefore need a kind of light and can fold and unfold quickly mechanism. Summary of the invention

[0005] In view of the above-mentioned defects in the prior art, the present invention provides a rotor rapid folding and unfolding mechanism, which aims to achieve rapid and controllable folding and unfolding of the rotor through the cooperation of an energy barrier providing mechanism and a temperature-controlled memory spring.

[0006] In a first aspect, the present invention provides a rotor rapid folding and unfolding mechanism, comprising a base plate, a rotating plate, an energy barrier providing mechanism and a driving mechanism; the rotor is connected to the rotating plate (1) and moves synchronously;

[0007] A rotating plate is provided on the bottom plate for rotation via a first rotating shaft, and the rotating plate is rotated on the bottom plate to realize folding and unfolding;

[0008] The energy barrier providing mechanism is configured as an arc-shaped elastic metal sheet;

[0009] The two ends of the arc-shaped elastic metal sheet are rotatably disposed on the bottom plate and the rotating plate respectively through the second rotating shaft and the third rotating shaft; and the arc-shaped elastic metal sheet provides an energy barrier to maintain a stable shape through elastic force when the rotating plate is folded and unfolded;

[0010] The driving mechanism includes a temperature-controlled memory spring and a temperature-controlled module thereof disposed between the bottom plate and the rotating plate;

[0011] The temperature-controlled memory spring is compressed or stretched by changing the temperature to drive the rotating plate to rotate, and includes a folding spring and an unfolding spring;

[0012] In the unfolded state, one end of the unfolding spring is arranged on the bottom plate and between the first rotating shaft and the second rotating shaft, and the other end is arranged on the rotating plate and between the first rotating shaft and the third rotating shaft; during the folding process, one end of the unfolding spring located on the rotating plate rotates around the first rotating shaft, and after the two ends of the unfolding spring are in the same straight line with the first rotating shaft, the unfolding spring continues to rotate and is limited by the first rotating shaft;

[0013] In the folded state, one end of the folding spring is arranged on the bottom plate and the other end is arranged on the rotating plate, and both ends are located between the first rotating shaft and the third rotating shaft; during the unfolding process, the folding spring (311) is located at one end of the rotating plate and rotates around the first rotating shaft. After the two ends of the folding spring are located in the same straight line as the first rotating shaft, it continues to rotate and is limited by the first rotating shaft.

[0014] During the folding or unfolding of the rotating plate, the distance from the second rotating axis to the third rotating axis will first become longer and then shorten, so that the arc-shaped elastic metal sheet will first undergo elastic deformation and be straightened, and then quickly release the stored elastic force.

[0015] With such a configuration, the arc-shaped elastic metal sheet has the force to maintain the curved shape. During the rotation of the rotating plate, the arc-shaped elastic metal sheet is first stretched and gradually stores elastic force. When the rotation of the rotating plate exceeds a certain angle, the arc-shaped elastic metal sheet will instantly release the elastic force to achieve rapid deformation. The rotating plate is driven to rotate by a temperature-controlled memory spring. When the temperature of the temperature-controlled memory spring changes, it can deform and provide a force to overcome the bending energy barrier of the arc-shaped elastic metal sheet. The temperature-controlled memory spring is small in size. In some embodiments, current can be directly passed through the spring for heating. It is easy to operate, occupies little space, and has low weight.

[0016] By adopting the above technical scheme, the energy barrier providing mechanism can continuously switch between extension and shortening, and can realize a bistable structural design. In addition, multiple temperature-controlled memory springs can be provided to drive the rotating plate to fold and unfold respectively, so that the rapid folding and unfolding mechanism can switch between the two stable states of folding and unfolding, and can transition quickly when switching. In addition, it occupies little space and has low weight. At the same time, its overall structural design is relatively simple, easy to install, modify and maintain, and is more suitable for the high-altitude, high-speed and high-acceleration flight environment of UAVs.

[0017] In some embodiments, the rotating shaft includes an axis and a sleeve sleeved on the axis, and a ball bearing is arranged between the axis and the sleeve;

[0018] The axis is arranged on the bottom plate, the sleeve is arranged on the rotating plate, a space for accommodating the temperature-controlled memory spring is reserved between the rotating plate and the bottom plate, and the sleeve extends from the lower part of the rotating plate to the upper part of the bottom plate.

[0019] With such arrangement, when the rotating plate rotates to a certain angle, the temperature-controlled memory spring will contact the sleeve and rotate with the rotating plate, thereby reducing the friction generated by the contact between the spring and the rotating shaft and preventing the spring from getting stuck at the rotating shaft.

[0020] In some embodiments, the arc-shaped elastic metal sheet includes a connecting portion at its ends and a bent portion in the center.

[0021] The bottom plate and the rotating plate are respectively provided with rotating columns, and the connecting portion is bent into a cylindrical shape and sleeved on the rotating columns.

[0022] This sleeve arrangement has a simple structure and can not only achieve a rotation effect but also make it easier to process the arc-shaped elastic metal sheet.

[0023] In some embodiments, the temperature control module (32) is a power supply module; the power supply module is arranged on the bottom plate, and is capable of receiving a control signal and controlling the current to flow through the temperature control memory spring, causing it to generate heat and increase temperature;

[0024] The power supply module is configured as a PMOS power supply module, and the PMOS power supply module includes a power input line, a signal input line, a power output line and a PMOS switch circuit;

[0025] The power supply is connected through the power input line, the control signal is connected through the signal input line, and is connected to the switch circuit. When the conduction signal is received, the conducted power current is output from the power output line to the temperature-controlled memory spring.

[0026] With this arrangement, the electric heating method has a simple structure and low weight; in addition, the current required for the memory alloy spring to heat is relatively large, so a PMOS switch circuit is used to control a large current with a small current, saving electric energy while satisfying the heating effect.

[0027] In some embodiments, the bottom plate is configured as a circle, the rotating plate is configured as a semicircle, the rotating shaft is configured at the arc edge of the bottom plate, and the bottom plate and the rotating plate overlap each other in the folded state;

[0028] The arc-shaped elastic metal sheet is configured in a semicircular shape, and when the rotating plate is in a folded state, the main body of the arc-shaped elastic metal sheet surrounds the edge of the bottom plate.

[0029] With such arrangement, when the rotating plate is in a folded state, the semicircular rotating plate can completely overlap with the bottom plate, and the arc-shaped elastic metal sheet is semicircular and can surround the bottom plate from the side, so that the size of the quick folding and unfolding mechanism after folding is similar to that of the bottom plate, the projected area after folding is smaller, and the circular structure after folding is more compact.

[0030] In some embodiments, the arc-shaped elastic metal sheet is provided at a lower side of one end of the rotating plate and has a notch, and the height error between the rotating plate and the bottom plate is compensated by the notch.

[0031] This arrangement makes the width of the arc-shaped elastic metal sheet at the installation position of the rotating plate smaller, which can compensate for a certain height difference between the rotating plate and the base plate; in addition, compared with the method of raising the second rotating shaft on the base plate, the method of setting the recess has a lower overall height and a smaller structure.

[0032] In some embodiments, a plurality of mounting holes are provided on the base plate and the rotating plate, and the two ends of the temperature-controlled memory spring are respectively arranged in different mounting holes, and the tension strength and direction thereof can be adjusted by changing the setting position of the end of the temperature-controlled memory spring.

[0033] With such an arrangement, the fixed position of the temperature-controlled memory spring can be quickly adjusted, and the elastic force direction and elastic force magnitude of the temperature-controlled memory spring can be changed as required.

[0034] In some embodiments, the bottom plate and the rotating plate are made of carbon fiber material, and the arc-shaped elastic metal sheet is a metal sheet.

[0035] In some embodiments, a limit rod is disposed on the bottom plate, and the limit rod blocks the rotating plate to limit the rotation range of the rotating plate.

[0036] In some embodiments, a protective plate is provided on the outer side of the rotating plate. When the rotating plate is folded, the protective plate is located on the outer side of the bottom plate to protect the bottom plate.

[0037] In a second aspect, the present invention further provides a drone comprising the above-mentioned rotor rapid folding and unfolding mechanism, wherein the bottom plate is arranged on the main body of the drone, and the rotor of the drone is arranged on the rotating plate.

[0038] The rotor can be folded or unfolded relative to the drone body by rotating the rotating plate.

[0039] Such a setting can realize the rapid deployment and folding of the UAV rotor, and has a simple structure, a low weight burden on the UAV, and realizes the stable flight and rapid deformation of the variable structure UAV.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The present invention uses an arc-shaped elastic metal sheet as an energy barrier providing mechanism, so that the rotating mechanism can maintain the balance of the two forms of folding and opening, and uses a temperature-controlled memory spring to drive the rotating mechanism to rotate. The spring can respond quickly after being energized, and also provides a large force, which can make the deformation faster. In addition, the arc-shaped elastic metal sheet can quickly release the stored elastic force during the shortening process, so that the rotating mechanism can be folded and unfolded quickly. The present invention does not need to use a motor or other structure for rotation, and the overall structure is simpler and lighter. The rapid folding and unfolding mechanism is applied to the rotor UAV to achieve stable flight and rapid deformation of the variable structure UAV, and is more suitable for the high-altitude, high-speed and high-acceleration flight environment of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention and its features, appearance and advantages will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings. The same reference numerals indicate the same parts in all the drawings. The drawings are not drawn to scale, and emphasis is placed on illustrating the subject matter of the present invention.

[0043] Figure 1 It is a three-dimensional diagram of the rotor rapid folding and unfolding mechanism in an embodiment of the present invention in an unfolded state;

[0044] Figure 2 It is a three-dimensional diagram of the rotor rapid folding and unfolding mechanism in a folded state according to an embodiment of the present invention;

[0045] Figure 3 A top view of a rotor rapid folding and unfolding mechanism in a folded state according to an embodiment of the present invention;

[0046] Figure 4 FIG. 4 is a circuit diagram of a power supply module in an embodiment of the present invention.

[0047] Description of reference numerals:

[0048] 11. bottom plate; 112. mounting hole; 113. limit rod; 12. first rotating shaft; 1. rotating plate; 131. protection plate;

[0049] 21. arc-shaped elastic metal sheet; 211. notch; 22. second rotating shaft; 23. third rotating shaft;

[0050] 311, folding spring; 312, unfolding spring;

[0051] 32. Temperature control module; 321. Power input line; 322. Signal input line; 323. Power output line;

[0052] 324. Switching circuit. DETAILED DESCRIPTION

[0053] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0054] In the description of the present invention, the terms "first", "second", and "third" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of the features. Unless otherwise clearly specified and defined, the terms "set" and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. It should be noted that some of the devices or parts (such as temperature-controlled memory springs and power supply modules) involved in the following effect embodiments are commercially available, and the manufacturing or control methods used are searchable prior art.

[0055] Example 1

[0056] See also Figures 1 to 3 , this embodiment provides a rotor rapid folding and unfolding mechanism, including a base plate 11, a rotating plate 1, an energy barrier providing mechanism and a driving mechanism;

[0057] A rotating plate 1 is rotatably arranged on the bottom plate 11 via a first rotating shaft 12, and the rotating plate 1 is rotated on the bottom plate 11 to achieve folding and unfolding;

[0058] The energy barrier providing mechanism is configured as an arc-shaped elastic metal sheet 21;

[0059] The two ends of the arc-shaped elastic metal sheet 21 are rotatably disposed on the bottom plate 11 and the rotating plate 1 respectively through the second rotating shaft 22 and the third rotating shaft 23; and the arc-shaped elastic metal sheet 21 provides an energy barrier to maintain a stable shape through elastic force when the rotating plate 1 is folded and unfolded;

[0060] The driving mechanism includes a temperature-controlled memory spring disposed between the bottom plate 11 and the rotating plate 1 and a temperature-controlled module 32 for providing heat to them;

[0061] The temperature-controlled memory spring drives the rotating plate 1 to rotate, and includes a folding spring 311 and an unfolding spring 312;

[0062] In the unfolded state, one end of the unfolding spring 312 is arranged on the bottom plate 11, between the first rotating shaft 12 and the second rotating shaft 22, and the other end is arranged on the rotating plate 1, between the first rotating shaft 12 and the third rotating shaft 23; during the folding process, one end arranged on the rotating plate 1 rotates around the first rotating shaft 12, and after the two ends of the unfolding spring 312 are in the same straight line with the first rotating shaft 12, it continues to rotate and is limited by the first rotating shaft 12; the folding spring 311 drives the rotating plate 1 to rotate;

[0063] In the folded state, one end of the folding spring 311 is arranged on the bottom plate 11 and the other end is arranged on the rotating plate 1, and both ends are located between the first rotating shaft 12 and the third rotating shaft 23. During the unfolding process, one end arranged on the rotating plate 1 rotates around the first rotating shaft 12, and after the two ends of the folding spring 311 are in the same straight line with the first rotating shaft 12, it will continue to rotate and be limited by the first rotating shaft 12; and be limited by the first rotating shaft 12; the unfolding spring 312 drives the rotating plate 1 to rotate;

[0064] During the folding or unfolding of the rotating plate 1 , the distance from the second rotating axis 22 to the third rotating axis 23 will first become longer and then shorten, so that the arc-shaped elastic metal sheet 21 will first undergo elastic deformation and be straightened, and then quickly release the stored elastic force.

[0065] It should be noted that in the prior art, the folding part of a general foldable drone is only used when the drone is launched. The drone is folded during transportation and unfolded during launch. This folding and unfolding method is one-way and cannot fold itself after unfolding. Devices that can autonomously unfold and fold are generally complex in structure and heavy in weight, and are not suitable for small and lightweight drones.

[0066] The embodiment of the present invention provides a rotor rapid folding and unfolding mechanism, which not only has a bistable structural design, but can also switch between two stable states of folding and unfolding, requires a small space and is light in weight.

[0067] Preferably, the bottom plate 11 and the rotating plate 1 are made of carbon fiber material, and the arc-shaped elastic metal sheet 21 is a metal sheet, which not only has a light structure but also has sufficient strength.

[0068] Specifically, in the present embodiment, the bottom plate 11 is circular, and a semicircular rotating plate 1 is rotatably provided on the outer side of the circle through a first rotating shaft 12, the first rotating shaft 12 is connected to the intersection of the circular arc and the straight line of the rotating plate 1, and a gap for accommodating a spring is reserved between the bottom plate 11 and the rotating plate 1; an arc-shaped elastic metal sheet 21 is provided between the bottom plate 11 and the rotating plate 1, specifically, the arc-shaped elastic metal sheet 21 has a semicircular shape, including a connecting portion at its end and a curved portion in the center, the arc-shaped elastic metal sheet 21 can maintain an arc shape and store elastic force, one end of which is rotatably connected to the outer side of the bottom plate 11 through a second rotating shaft 22, and the other end is provided on the arc edge of the semicircular rotating plate 1 through a third rotating shaft 23, and is located on the symmetry axis of the semicircular rotating plate 1; preferably, a notch 211 is provided at one end of the arc-shaped elastic metal sheet 21 close to the third rotating shaft 23, and the height error between the rotating plate 1 and the bottom plate 11 is compensated by the notch 211.

[0069] It is worth noting that, because the rotating plate 1 is arranged on the base plate 11, and a gap is reserved between the rotating plate 1 and the base plate 11 to accommodate the spring, the rotating plate 1 and the base plate 11 have a certain height difference. If the two ends of the arc-shaped elastic metal sheet 21 are directly arranged on the rotating plate and the base plate at the same time, the arc-shaped elastic metal sheet 21 will be twisted and bent.

[0070] In the folded state, the relative positions of the first shaft 12, the second shaft 22 and the third shaft 23 form a triangle. When the rotating plate 1 is gradually opened from the folded state, the third shaft 23 rotates around the first shaft 12. Since the distance between the first shaft 12 and the second shaft 22 remains unchanged, and the distance between the second shaft 22 and the third shaft 23 remains unchanged, the distance between the second shaft 22 and the third shaft 23 gradually moves away during the rotation, and the arc-shaped elastic metal sheet 21 is straightened to gradually store elastic force; when the relative positions of the three shafts are in a straight line, the distance between the second shaft 22 and the third shaft 23 is the farthest; at this time, continue to rotate the rotating plate 1, and when the third shaft 23 passes over the first shaft 12, the arc-shaped elastic metal sheet 21 will instantly release the stored elastic force, so that the rotating plate 1 quickly switches to the unfolded state.

[0071] In the unfolded state, the relative positions of the first rotating shaft 12, the second rotating shaft 22 and the third rotating shaft 23 still form a triangle, but the difference from the folded state is that the position of the third rotating shaft 23 is different.

[0072] Specifically, a limiting rod 113 is further provided on the bottom plate 11 . The limiting rod 113 stands on the bottom plate 11 and can block the rotation of the rotating plate 1 . The rotation range of the rotating plate 1 is limited by the limiting rod 113 .

[0073] Preferably, a protective plate 131 is provided on the outer side of the rotating plate 1 , and when the rotating plate 1 is folded, the protective plate 131 is located on the outer side of the bottom plate to protect the bottom plate 11 .

[0074] In order to drive the rotating plate 1 to rotate, specifically, a driving mechanism is arranged on the base plate 11, and the driving mechanism includes a temperature-controlled memory spring arranged between the base plate 11 and the rotating plate 1 and a temperature control module 32 for providing heat to them; the temperature control module 32 is a power supply module; the temperature-controlled memory spring will shorten after heating, and the force generated by the shortening drives the rotating plate 1 to rotate, which includes a folding spring 311 and an unfolding spring 312.

[0075] In the unfolded state, one end of the unfolding spring 312 is arranged on the bottom plate 11, between the first rotating shaft 12 and the second rotating shaft 22, and the other end is arranged on the rotating plate 1, between the first rotating shaft 12 and the third rotating shaft 23; during the folding process, one end arranged on the rotating plate 1 rotates around the first rotating shaft 12, and after the two ends of the unfolding spring 312 are in the same straight line with the first rotating shaft 12, it continues to rotate and is limited by the first rotating shaft 12;

[0076] In the folded state, one end of the folding spring 311 is arranged on the bottom plate 11 and the other end is arranged on the rotating plate 1, and both ends are located between the first rotating shaft 12 and the third rotating shaft 23. During the unfolding process, one end arranged on the rotating plate 1 rotates around the first rotating shaft 12, and after the two ends of the folding spring 311 are located in the same straight line as the first rotating shaft 12, it continues to rotate and is limited by the first rotating shaft 12.

[0077] Specifically, a plurality of mounting holes 112 are provided on the bottom plate 11 and the rotating plate 1, and the two ends of the temperature-controlled memory spring are respectively arranged in different mounting holes, and the tension strength and direction thereof can be adjusted by changing the setting position of the end of the temperature-controlled memory spring.

[0078] Preferably, the limiting rod 113 may also be disposed in the mounting hole, so as to facilitate adjustment of the mounting position of the limiting rod and to facilitate control of the rotation angle range of the rotating plate 1 .

[0079] See also Figure 4 Specifically, the power supply module is arranged on the bottom plate 11, and can receive the control signal and control the current to flow through the temperature-controlled memory spring to make it heat up;

[0080] The power supply module can be set as a PMOS power supply module, which includes a power input line 321, a signal input line 322, a power output line 323 and a PMOS switch circuit 324;

[0081] The power supply is connected through the power input line 321, the control signal is connected through the signal input line 322, and is connected to the switch circuit 324. When the conduction signal is received, the conducted power current is output from the power output line 323 to the temperature-controlled memory spring.

[0082] Specifically, the power supply voltage should be set according to the temperature-controlled memory spring, preferably 15V.

[0083] It is understandable that the temperature control module of the temperature control memory spring can also be other devices that can achieve temperature changes. For example, the temperature control memory spring can be made of a memory alloy that shrinks after heating or a memory alloy that shrinks after cooling.

[0084] The specific unfolding process of the rotor rapid folding and unfolding mechanism is as follows: the driving mechanism receives a folding signal and heats the unfolding spring 312. The unfolding spring 312 begins to shrink due to the heat, and then pulls the rotating plate 1 to rotate the rotating plate 1. During the rotation of the rotating plate 1, the arc-shaped elastic metal sheet 21 is gradually straightened. When the rotation exceeds a certain angle, that is, after the third rotating shaft 23 bypasses the first rotating shaft 12, the arc-shaped elastic metal sheet 21 instantly releases the stored elastic force, so that the rotating plate 1 is quickly opened. When the rotating plate 1 is opened, one end of the folding spring 311 bypasses the first rotating shaft 12 and is stretched.

[0085] The specific folding process of the rotor rapid folding and unfolding mechanism is as follows: the folding spring 311 contracts to rotate the rotating plate 1, and at the same time the arc-shaped elastic metal sheet 21 is gradually straightened. When the rotation exceeds a certain angle, that is, after the third rotating shaft 23 bypasses the first rotating shaft 12, the arc-shaped elastic metal sheet 21 instantly releases the stored elastic force, so that the rotating plate 1 is quickly folded. While the rotating plate 1 is folded, one end of the unfolding spring 312 bypasses the first rotating shaft 12 and is stretched, thereby preparing for the next unfolding.

[0086] Example 2

[0087] This embodiment provides a drone including the rotor rapid folding and unfolding mechanism as described in Embodiment 1, wherein a bottom plate 11 is arranged on the main body of the drone, and the rotor of the drone is arranged on the rotating plate 1.

[0088] The rotor can be folded or unfolded relative to the drone body by rotating the rotating plate 1 .

[0089] Those skilled in the art should understand that those skilled in the art can implement variations by combining the prior art and the above embodiments, which will not be described in detail here. Such variations do not affect the essential content of the present invention, and will not be described in detail here.

[0090] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. A rotor rapid folding and unfolding mechanism, characterized in that: It comprises a base plate (11), a rotating plate (1), an energy barrier providing mechanism and a driving mechanism; the rotor is connected to the rotating plate (1) and moves synchronously; A rotating plate (1) is rotatably arranged on the bottom plate (11) via a first rotating shaft (12), and the rotating plate (1) is rotated on the bottom plate (11) to achieve folding and unfolding; The energy barrier providing mechanism is configured as an arc-shaped elastic metal sheet (21); The two ends of the arc-shaped elastic metal sheet (21) are rotatably disposed on the bottom plate (11) and the rotating plate (1) via a second rotating shaft (22) and a third rotating shaft (23), respectively; and the arc-shaped elastic metal sheet (21) provides an energy barrier for maintaining a stable shape through elastic force when the rotating plate (1) is in a folded or unfolded state; The driving mechanism comprises a temperature-controlled memory spring and a temperature-controlled module (32) thereof, which are arranged between the bottom plate (11) and the rotating plate (1); The temperature-controlled memory spring is compressed or stretched by changing the temperature to drive the rotating plate (1) to rotate, and comprises a folding spring (311) and an unfolding spring (312); In the unfolded state, one end of the unfolding spring (312) is arranged on the bottom plate (11) and is located between the first rotating shaft (12) and the second rotating shaft (22), and the other end is arranged on the rotating plate (1) and is located between the first rotating shaft (12) and the third rotating shaft (23); during the folding process, one end of the unfolding spring (312) located on the rotating plate (1) rotates around the first rotating shaft (12) until both ends of the unfolding spring (312) and the first rotating shaft (12) are located in the same straight line, and then continues to rotate and is limited by the first rotating shaft (12); In the folded state, one end of the folding spring (311) is arranged on the bottom plate (11), and the other end is arranged on the rotating plate (1), and both ends are located between the first rotating shaft (12) and the third rotating shaft (23); during the unfolding process, the end of the folding spring (311) located on the rotating plate (1) rotates around the first rotating shaft (12), and after the two ends of the folding spring (311) and the first rotating shaft (12) are located in the same straight line, the folding spring (311) continues to rotate and is limited by the first rotating shaft (12); and is limited by the first rotating shaft (12); During the folding or unfolding process of the rotating plate (1), the distance from the second rotating axis (22) to the third rotating axis (23) will first increase in length and then decrease in length, so that the arc-shaped elastic metal sheet (21) will first undergo elastic deformation and be straightened, and then quickly release the stored elastic force.

2. A rotor rapid folding and unfolding mechanism according to claim 1, characterized in that: The rotating shaft (12) comprises an axis and a sleeve sleeved on the axis, and a ball bearing is arranged between the axis and the sleeve; The axis is arranged on the bottom plate (11), the sleeve is arranged on the rotating plate (1), a space for accommodating the temperature-controlled memory spring is reserved between the rotating plate (1) and the bottom plate (11), and the sleeve extends from the lower part of the rotating plate (1) to the upper part of the bottom plate (11).

3. A rotor rapid folding and unfolding mechanism according to claim 1, characterized in that: The arc-shaped elastic metal sheet (21) comprises a connecting portion at its end and a bent portion at its center; The bottom plate (11) and the rotating plate (1) are respectively provided with a rotating column, and the connecting portion is bent into a cylindrical shape and sleeved on the rotating column.

4. A rotor rapid folding and unfolding mechanism according to claim 1, characterized in that: The temperature control module (32) is a power supply module; the power supply module is arranged on the bottom plate (11), and is capable of receiving a control signal and controlling the current to flow through the temperature control memory spring, causing it to generate heat and increase temperature; The power supply module is configured as a PMOS power supply module, and the PMOS power supply module comprises a power input line (321), a signal input line (322), a power output line (323), and a PMOS switch circuit (324); The power supply is connected via a power input line (321), the control signal is connected via a signal input line (322), and is connected to a switch circuit (324); when a conduction signal is received, the conducted power current is output from a power output line (323) to the temperature-controlled memory spring (31).

5. The rotor rapid folding and unfolding mechanism according to claim 1, characterized in that: The bottom plate (11) is arranged in a circular shape, the rotating plate (1) is arranged in a semicircular shape, the rotating shaft (12) is arranged at an arc-shaped edge of the bottom plate (11), and in a folded state, the bottom plate (11) and the rotating plate (1) overlap each other up and down; The arc-shaped elastic metal sheet (21) is configured in a semicircular shape, and when the rotating plate (1) is in a folded state, the main body of the arc-shaped elastic metal sheet (21) surrounds the edge of the bottom plate (11); The arc-shaped elastic metal sheet (21) is arranged on the lower side of one end of the rotating plate (1) and is provided with a notch (211), and the height error between the rotating plate (1) and the bottom plate (11) is compensated by the notch (211).

6. A rotor rapid folding and unfolding mechanism according to claim 5, characterized in that: The bottom plate (11) and the rotating plate (1) are made of carbon fiber material, and the arc-shaped elastic metal sheet (21) is a metal sheet.

7. A rotor rapid folding and unfolding mechanism according to claim 1, characterized in that: A plurality of mounting holes (112) are provided on the bottom plate (11) and the rotating plate (1); the two ends of the temperature-controlled memory spring are respectively arranged in different mounting holes (112); and the tension strength and tension direction thereof can be adjusted by changing the setting position of the end of the temperature-controlled memory spring.

8. The rotor rapid folding and unfolding mechanism according to claim 1, characterized in that: A limiting rod (113) is provided on the bottom plate (11), and the limiting rod (113) blocks the rotating plate (1) to limit the rotation range of the rotating plate (1).

9. The rotor rapid folding and unfolding mechanism according to claim 1, characterized in that: A protective plate (131) is provided on the outside of the rotating plate (1); when the rotating plate (1) is folded, the protective plate (131) is located on the outside of the bottom plate to protect the bottom plate (11).

10. A drone, characterized in that: It comprises a rotor rapid folding and unfolding mechanism as claimed in any one of claims 1 to 9, wherein the bottom plate (11) is arranged on the main body of the drone, and the rotor of the drone is arranged on the rotating plate (1). The rotor can be folded or unfolded relative to the drone body by rotating the rotating plate (1).

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