Rotor wing assembly and flight vehicle

Abstract

The invention discloses a rotor assembly and a flight vehicle, and relates to the technical field of vehicles, the rotor assembly comprises a propeller hub, a blade driving assembly, a blade body, a locking driving assembly and a locking piece; the paddle driving assembly is arranged on the propeller hub; the paddle body is connected to the paddle driving assembly and is provided with a first matching structure and a second matching structure, and the paddle driving assembly can drive the paddle body to rotate to a folded state or an unfolded state relative to the propeller hub; the locking driving assembly is arranged on the propeller hub; the locking piece is connected to the locking driving assembly; when the paddle body rotates to an unfolded state, the locking driving assembly drives the locking piece to be locked with the first matching structure; and when the paddle body rotates to a folded state, the locking driving assembly drives the locking piece to be locked with the second matching structure. According to the scheme, automatic folding and unfolding of the paddles are achieved in an autonomous driving mode, efficiency and operation safety are improved, and meanwhile position deviation of the folded or unfolded paddles under the action of external force can be avoided.

Description

Technical Field

[0001] This application relates to the field of transportation technology, and in particular to a rotor assembly and an airborne vehicle. Background Technology

[0002] With the development of transportation technology, flying cars and other flying vehicles have emerged. The widespread use of flying vehicles helps to solve traffic congestion and alleviate urban traffic pressure.

[0003] The rotor blades are the core components of flying vehicles. When the rotor blades rotate, the shape and motion of the rotor blades cause a difference in air pressure between the upper and lower surfaces of the rotor blades. According to Bernoulli's principle, the pressure is lower where the airflow is faster and higher where the airflow is slower. Therefore, the high-pressure air below the rotor blades will push the rotor blades upward, thus providing lift for the takeoff and hovering of flying vehicles.

[0004] Because of the large diameter of the propeller blades, a large parking space is often required to park the aircraft. To park the aircraft in a smaller space, the propeller blades need to be folded and stowed. However, folding and unfolding the propeller blades requires manual operation from a height, which is inefficient and risky. In addition, the folded or unfolded propeller blades are prone to deviating from their original folded or unfolded positions under external forces, resulting in low reliability and potentially causing safety accidents due to blade displacement. Summary of the Invention

[0005] The main objective of this application is to propose a rotor assembly that aims to achieve automatic folding and unfolding of the blade section through autonomous driving, thereby improving efficiency and operational safety, while avoiding positional displacement of the folded or unfolded blade section under external force.

[0006] To achieve the above objectives, the rotor assembly proposed in this application includes:

[0007] propeller hub;

[0008] A blade drive assembly is mounted on the blade hub;

[0009] The blade body is connected to the blade drive assembly; the blade body has a first mating structure and a second mating structure, and the blade body is used to rotate relative to the blade hub to a folded state or an unfolded state under the drive of the blade drive assembly.

[0010] A locking drive assembly is disposed on the propeller hub;

[0011] A locking element is connected to the locking drive assembly;

[0012] When the blade body rotates to the unfolded state, the first mating structure is opposite to the locking member, and the locking drive assembly is used to drive the locking member to lock with the first mating structure; when the blade body rotates to the folded state, the second mating structure is opposite to the locking member, and the locking drive assembly is used to drive the locking member to lock with the second mating structure.

[0013] Optionally, the locking member includes a positioning pin; the blade body has a rotating ear, the blade body is rotatably connected to the blade hub through the rotating ear, and the second mating structure is disposed on the rotating ear; the first mating structure includes a locking ear, the locking ear and the rotating ear are spaced apart, and the locking ear is provided with a pin hole.

[0014] When the blade body rotates to the unfolded state, the locking drive assembly drives the positioning pin to insert into the pin hole; when the blade body rotates to the folded state, the locking drive assembly drives the positioning pin to abut against the second mating structure.

[0015] Optionally, when the blade body rotates to the unfolded state, the positioning pin is located between the rotating ear and the locking ear, and the locking drive assembly is used to drive the positioning pin to move along the first axis so that the first end of the positioning pin is inserted into the pin hole; when the blade body rotates to the folded state, the locking drive assembly is used to drive the positioning pin to move along the second axis so that the second end of the positioning pin abuts against the second mating structure; the second axis is opposite to the first axis.

[0016] Optionally, the locking member further includes a positioning latch, which is connected to the second end of the positioning pin; the second mating structure includes a first slot formed on the rotating ear.

[0017] When the blade body rotates to the folded state, the first slot is opposite to the positioning latch, and the locking drive assembly is used to drive the positioning pin to move along the second axis so that the positioning latch is engaged in the first slot.

[0018] Optionally, the propeller hub is provided with a second slot; when the propeller body is rotated to the folded state, the second slot and the first slot are arranged side by side, and the positioning locking tongue is used to simultaneously engage with the first slot and the second slot.

[0019] Optionally, the locking drive assembly includes a drive device and a lead screw transmission mechanism, one end of which is connected to the drive device, and the other end of which is connected to the positioning lock tongue; the drive device is used to drive the positioning lock tongue to move along the first axial direction or the second axial direction through the lead screw transmission mechanism.

[0020] Optionally, the locking member includes two spaced-apart positioning pins, and the screw drive mechanism is located between the two positioning pins; the first mating structure includes two locking lugs, each of which has a pin hole.

[0021] When the blade body rotates to the unfolded state, the lead screw transmission mechanism is located between the two locking lugs, and the first ends of at least two positioning pins are used to be inserted into at least two pin holes in a one-to-one correspondence.

[0022] Optionally, the propeller hub is provided with a first limiting ear, and the first limiting ear is provided with a first limiting through hole;

[0023] When the blade body rotates to the unfolded state, the first limiting ear is located on the side of the locking ear facing the second mating structure. The locking drive assembly is used to drive the positioning pin to move along the first axis so that the first end of the positioning pin passes through the first limiting through hole and is inserted into the pin hole.

[0024] Optionally, the propeller hub is provided with a second limiting ear, and the second limiting ear is provided with a second limiting through hole;

[0025] When the blade body rotates to the unfolded state, the second limiting ear is located on the side of the locking ear facing away from the second mating structure. The locking drive assembly is used to drive the positioning pin to move along the first axis so that the first end of the positioning pin passes through the pin hole and is inserted into the second limiting through hole.

[0026] Optionally, the locking drive assembly includes a drive device and a lead screw transmission mechanism, one end of the lead screw transmission mechanism is connected to the drive device, and the other end of the lead screw transmission mechanism is connected to the locking member; the drive device is used to drive the locking member to lock into the first mating structure or the second mating structure through the lead screw transmission mechanism.

[0027] Optionally, the rotor assembly further includes a position sensing device, which is electrically connected to the locking drive assembly, and the position sensing device is used to acquire the rotational attitude of the blade body.

[0028] When the blade body rotates to the unfolded state, the position sensing device sends a first driving signal to the locking driving assembly to trigger the locking driving assembly to drive the locking member to lock with the first mating structure; when the blade body rotates to the folded state, the position sensing device sends a second driving signal to the locking driving assembly to trigger the locking driving assembly to drive the locking member to lock with the second mating structure.

[0029] Optionally, the position sensing device is electrically connected to the blade drive assembly, and the position sensing device is used to obtain the rotational attitude of the blade body through the drive signal of the blade drive assembly.

[0030] Optionally, the rotor assembly further includes a position sensing device, which is electrically connected to the locking drive assembly, and the position sensing device is used to acquire the rotational attitude of the blade body.

[0031] During the process of the propeller body rotating from the unfolded state to the folded state, when the propeller body rotates to a first preset angle, the position sensing device sends a first clearance signal to the locking drive assembly to trigger the locking drive assembly to drive the positioning pin to move along the first axis.

[0032] Optionally, the rotor assembly further includes a position sensing device, which is electrically connected to the locking drive assembly, and the position sensing device is used to acquire the rotational attitude of the blade body.

[0033] During the process of the blade body rotating from the folded state to the unfolded state, when the blade body rotates to the second preset angle, the position sensing device sends a second clearance signal to the locking drive assembly to trigger the locking drive assembly to drive the positioning pin to move along the second axis.

[0034] Optionally, the rotor assembly further includes a first elastic energy storage element, one end of which is connected to the rotor hub and the other end of which is connected to the rotor blade body. The first elastic energy storage element is used to prevent the rotor blade body from rotating relative to the rotor hub to the folded state through elastic force.

[0035] Optionally, the rotor assembly further includes a second elastic energy storage element, one end of the first elastic energy storage element is connected to the rotor hub, the other end of the first elastic energy storage element is connected to the rotor blade body, and the second elastic energy storage element is used to prevent the rotor blade body from rotating relative to the rotor hub to the deployed state through elastic force.

[0036] Correspondingly, this application also proposes an airborne vehicle, which includes an airframe and a rotor assembly as described above, the rotor assembly being mounted on the airframe.

[0037] In the technical solution of this application, the blade body can be driven to rotate relative to the rotor hub to either an unfolded or folded state by the blade drive assembly. This achieves automatic unfolding and folding of the blade body without the need for manual work at height, thereby improving efficiency and operational safety. When the blade body rotates to the unfolded or folded state, the locking drive assembly can drive the locking member to lock onto the first or second mating structure on the blade body. This locks the blade body in both the unfolded and folded states, keeping it stably in the current unfolded or folded state. This prevents the blade body from shifting relative to the rotor hub under external forces, thereby improving the stability and reliability of the rotor assembly and reducing the probability of safety accidents. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0039] Figure 1 A three-dimensional structural diagram of the rotor assembly provided in this application when the blade body is in the deployed state;

[0040] Figure 2 A three-dimensional structural diagram of the rotor assembly provided in this application when the blade body is in a folded state;

[0041] Figure 3 A schematic cross-sectional view of the rotor body in the deployed state in one embodiment of the rotor assembly provided in this application;

[0042] Figure 4 A schematic cross-sectional view of the rotor assembly provided in this application when the blade body is in a folded state.

[0043] Figure 5 A top view of the rotor assembly provided in this application when the blade body is in a folded state.

[0044] Figure 6 A top view of the rotor assembly provided in this application when the blade body is in a first rotating state;

[0045] Figure 7 A top view of the rotor assembly provided in this application when the blade body is in a second rotational state;

[0046] Figure 8 A top view of the rotor assembly provided in this application when the blade body is in the deployed state;

[0047] Figure 9 This is a three-dimensional structural diagram of an embodiment of the flight vehicle provided in this application.

[0048] Explanation of icon numbers:

[0049] 1000, machine body; 2000, machine arm;

[0050] 1. Propeller hub; 11. Second slot; 12. First limiting ear; 13. Second limiting ear; 121. First limiting through hole; 131. Second limiting through hole;

[0051] 2. Propeller drive assembly;

[0052] 3. Blade body; 31. First mating structure; 32. Second mating structure; 33. Rotating lug; 311. Locking lug; 312. Pin hole; 321. First slot;

[0053] 4. Locking drive assembly; 41. Drive device; 42. Screw drive mechanism;

[0054] 5. Locking component; 51. Locating pin; 52. Locating bolt.

[0055] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0057] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0058] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0059] With the development of transportation technology, flying cars and other flying vehicles have emerged. The widespread use of flying vehicles helps to solve traffic congestion and alleviate urban traffic pressure.

[0060] The rotor blades are the core components of flying vehicles. When the rotor blades rotate, the shape and motion of the rotor blades cause a difference in air pressure between the upper and lower surfaces of the rotor blades. According to Bernoulli's principle, the pressure is lower where the airflow is faster and higher where the airflow is slower. Therefore, the high-pressure air below the rotor blades will push the rotor blades upward, thus providing lift for the takeoff and hovering of flying vehicles.

[0061] Because of the large diameter of the propeller blades, a large parking space is often required to park the aircraft. To park the aircraft in a smaller space, the propeller blades need to be folded and stowed. However, folding and unfolding the propeller blades requires manual operation from a height, which is inefficient and risky. In addition, the folded or unfolded propeller blades are prone to deviating from their original folded or unfolded positions under external forces, resulting in low reliability and potentially causing safety accidents due to blade displacement.

[0062] To address the aforementioned issues, this application proposes a rotor assembly designed to achieve automatic folding and unfolding of the blades through autonomous driving, thereby improving efficiency and operational safety while preventing the folded or unfolded blades from shifting position under external forces.

[0063] Please see Figures 1 to 8 The rotor assembly proposed in this application includes:

[0064] Propeller hub 1;

[0065] The blade drive assembly 2 is mounted on the blade hub 1;

[0066] The blade body 3 is connected to the blade drive assembly 2. The blade body 3 has a first mating structure 31 and a second mating structure 32. The blade body 3 is used to rotate relative to the blade hub 1 to a folded state or an unfolded state under the drive of the blade drive assembly 2.

[0067] The locking drive assembly 4 is mounted on the propeller hub 1;

[0068] Locking component 5 is connected to locking drive assembly 4;

[0069] When the blade body 3 rotates to the unfolded state, the first mating structure 31 is opposite to the locking member 5, and the locking drive assembly 4 is used to drive the locking member 5 to lock with the first mating structure 31; when the blade body 3 rotates to the folded state, the second mating structure 32 is opposite to the locking member 5, and the locking drive assembly 4 is used to drive the locking member 5 to lock with the second mating structure 32.

[0070] In this embodiment, the rotor hub 1 is located at the end of the arm 2000 of the flying vehicle, and the rotor hub 1 serves as the mounting base for multiple rotor blade bodies 3. The flying vehicle includes, but is not limited to, helicopters, flying cars, etc.

[0071] The propeller drive assembly 2 may include power devices such as an electric drive device 41, a hydraulic drive device 41, and a pneumatic drive device 41, as well as a matching transmission mechanism and a reduction mechanism. In practical applications, deployment or folding commands can be input to the propeller drive assembly 2 via touch screen, remote control, or other means. When the propeller drive assembly 2 receives an external deployment command, it can drive the folded propeller body 3 to rotate in a preset direction to deploy until the propeller body 3 rotates relative to the propeller hub 1 to the deployed state. When the propeller drive assembly 2 receives an external folding command, it can drive the deployed propeller body 3 to rotate in a preset direction to fold until the propeller body 3 rotates relative to the propeller hub 1 to the folded state. The state of the propeller body 3 when the aircraft is performing flight maneuvers is called the deployed state, and the state of the propeller body 3 when the aircraft is stationary is called the folded state.

[0072] The blade body 3 is elongated, and one end of the blade body 3 can be rotatably connected to the hub 1. The number of blade bodies 3 can be two or more. Taking two blade bodies 3 as an example, the connection points between the two blade bodies 3 and the hub 1 are located on opposite sides of the hub 1. When the blade drive assembly 2 drives the two blade bodies 3 to rotate from a folded state to an unfolded state, the two blade bodies 3 move away from each other. When the blade drive assembly 2 drives the two blade bodies 3 to rotate to the unfolded state, such as... Figure 1 , Figure 3 and Figure 8As shown, the included angle between the two blade bodies 3 is 90°. The two blade bodies 3 are evenly distributed circumferentially. When the two blade bodies 3 rotate around the hub 1 as the central axis, they can provide lift to the flying vehicle to the maximum extent. When the blade drive assembly 2 drives the two blade bodies 3 to rotate from the unfolded state to the folded state, the two blade bodies 3 move closer to each other. When the blade drive assembly 2 drives the two blade bodies 3 to rotate to the folded state, as shown... Figure 2 , Figure 4 and Figure 5 As shown, the two propeller bodies 3 are brought together and arranged side by side, thus completing the folding and storage of the propeller bodies 3. This compresses the space occupied by the propeller bodies 3, allowing the aircraft to be parked in a smaller parking space. When there are two or more propeller bodies 3, the same method can be used, allowing multiple propeller bodies 3 to rotate in mutually dispersive directions during unfolding and in mutually converging directions during folding. Further details are omitted here.

[0073] The locking drive assembly 4 may include power devices such as an electric drive device 41, a hydraulic drive device 41, and a pneumatic drive device 41, as well as a transmission mechanism and a reduction mechanism used in conjunction with them. The locking element 5 includes, but is not limited to, pins, buckles, pressure blocks, and locking tongues. The first mating structure 31 and the second mating structure 32 may be configured to correspond to the above-mentioned form of the locking element 5 as a pin hole structure, a snap-fit ​​structure, a pressure-bearing structure, a slot structure, etc., as long as it is ensured that the locking element 5 can be locked and fixed with the first mating structure 31 and the second mating structure 32 under the drive of the locking drive assembly 4. There is no limitation here.

[0074] Understandably, in one embodiment, the locking drive assembly 4 can drive the locking member 5 to move in different directions. When the blade drive assembly 2 drives the blade body 3 to rotate to the unfolded state or the folded state, the first mating structure 31 and the second mating structure 32 can simultaneously be opposite to the locking member 5. At this time, the locking drive assembly 4 can selectively drive the locking member 5 to move in the corresponding direction, so that the locking member 5 is locked onto the first mating structure 31 or the second mating structure 32, thereby locking the blade body 3 in the current unfolded state or folded state. In another embodiment, the locking drive assembly 4 can only drive the locking member 5 to move in a single direction. When the blade drive assembly 2 drives the blade body 3 to rotate to the unfolded state, only the first mating structure 31 is opposite to the locking member 5. At this time, the locking drive assembly 4 can drive the locking member 5 to lock onto the first mating structure 31 to lock the blade body 3 in the current unfolded state. When the blade drive assembly 2 drives the blade body 3 to rotate to the folded state, only the second mating structure 32 is opposite to the locking member 5. At this time, the locking drive assembly 4 can drive the locking member 5 to lock onto the second mating structure 32 to lock the blade body 3 in the current folded state.

[0075] It should be noted that when the blade body 3 is locked in the unfolded state, if the blade body 3 is to be switched to the folded state, the locking member 5 must first be driven to move in the reverse direction by the locking drive assembly 4 to release the locking state between the locking member 5 and the first mating structure 31, and then the blade body 3 is driven to rotate to the folded state by the blade drive assembly 2. Similarly, when the blade body 3 is locked in the folded state, if the blade body 3 is to be switched to the unfolded state, the locking member 5 must first be driven to move in the reverse direction by the locking drive assembly 4 to release the locking state between the locking member 5 and the second mating structure 32, and then the blade body 3 is driven to rotate to the unfolded state by the blade drive assembly 2.

[0076] Therefore, the rotor assembly provided in this embodiment can drive the blade body 3 to rotate relative to the hub 1 to either an unfolded or folded state via the blade drive assembly 2. This achieves automatic unfolding and folding of the blade body 3 without the need for manual work at height, thereby improving efficiency and operational safety. When the blade body 3 rotates to the unfolded or folded state, the locking drive assembly 4 can drive the locking member 5 to lock onto the first mating structure 31 or the second mating structure 32 on the blade body 3. This locks the blade body 3 in both the unfolded and folded states, keeping it stably in the current unfolded or folded state. This prevents the blade body 3 from shifting relative to the hub 1 under external force, thereby improving the stability and reliability of the rotor assembly and reducing the probability of accidents.

[0077] Optionally, refer to Figures 1 to 8 The locking component 5 includes a positioning pin 51; the blade body 3 has a rotating ear 33, and the blade body 3 is rotatably connected to the blade hub 1 through the rotating ear 33; the second mating structure 32 is disposed on the rotating ear 33; the first mating structure 31 includes a locking ear 311, the locking ear 311 and the rotating ear 33 are spaced apart, and the locking ear 311 is provided with a pin hole 312;

[0078] When the blade body 3 rotates to the unfolded state, the locking drive assembly 4 drives the positioning pin 51 to insert into the pin hole 312; when the blade body 3 rotates to the folded state, the locking drive assembly 4 drives the positioning pin 51 to abut against the second mating structure 32.

[0079] Specifically, when the rotating ear 33 is rotatably connected to the propeller hub 1, the propeller drive assembly 2 can drive the propeller body 3 to rotate around the rotation center axis of the rotating ear 33, so as to realize the unfolding and folding of the propeller body 3. By setting the second mating structure 32 on the rotating ear 33 and setting the locking ear 311 at intervals from the rotating ear 33, the positions of the pin hole 312 and the second mating structure 32 can be staggered, thereby making it easier to ensure that the pin hole 312 and the second mating structure 32 can move to the position that matches the positioning pin 51 as the propeller body 3 rotates, so as to better complete the locking engagement between the pin hole 312, the second mating structure 32 and the positioning pin 51.

[0080] In one embodiment, the pin hole 312 is inserted into the first end of the positioning pin 51, and the second mating structure 32 is also abutted against the first end of the positioning pin 51; in another embodiment, the pin hole 312 is inserted into the first end of the positioning pin 51, and the second mating structure 32 abuts against the second end of the positioning pin 51.

[0081] Optionally, refer to Figures 1 to 8 When the blade body 3 rotates to the unfolded state, the positioning pin 51 is located between the rotating ear 33 and the locking ear 311. The locking drive assembly 4 is used to drive the positioning pin 51 to move along the first axis so that the first end of the positioning pin 51 is inserted into the pin hole 312. When the blade body 3 rotates to the folded state, the locking drive assembly 4 is used to drive the positioning pin 51 to move along the second axis so that the second end of the positioning pin 51 abuts against the second mating structure 32. The second axis is opposite to the first axis.

[0082] Specifically, the first axis and the second axis refer to two directions on the central axis of the locating pin 51. For example... Figures 2 to 5 As shown, the second end of the positioning pin 51 always faces the rotating ear 33. When the blade body 3 rotates to the folded state, the second mating structure 32 on the rotating ear 33 will be opposite to the second end of the positioning pin 51. At this time, the positioning pin 51 can be driven by the locking drive assembly 4 to approach the rotating ear 33 along the second axis, so that the second end of the positioning pin 51 abuts and engages with the second mating structure 32, thereby locking the blade body 3 in the folded state. By setting the locking ear 311 and the rotating ear 33 at intervals, during the unfolding process of the blade body 3, the pin hole 312 can move with the rotation of the blade body 3 to a position opposite to the first end of the positioning pin 51. Then, the positioning pin 51 can be driven by the locking drive assembly 4 to approach the locking ear 311 along the first axis, so that the first end of the positioning pin 51 is inserted and engaged in the pin hole 312, thereby locking the blade body 3 in the unfolded state.

[0083] In this embodiment, the two ends of the positioning pin 51 are respectively locked with the pin hole portion 312 and the second mating structure 32. This makes it easier to set the first end of the positioning pin 51 to a structure that is compatible with the pin hole portion 312, and the second end of the positioning pin 51 to a structure that is compatible with the second mating structure 32. This allows for better adaptation to different mating requirements between the positioning pin 51 and the pin hole portion 312, and between the positioning pin 51 and the second mating structure 32.

[0084] Optionally, refer to Figures 1 to 8 The locking member 5 also includes a positioning latch 52, which is connected to the second end of the positioning pin 51; the second mating structure 32 includes a first slot 321 formed on the rotating ear 33;

[0085] When the blade body 3 rotates to the folded state, the first slot 321 is opposite to the positioning latch 52, and the locking drive assembly 4 is used to drive the positioning pin 51 to move along the second axis so that the positioning latch 52 is engaged in the first slot 321.

[0086] The positioning latch 52 can be plate-shaped or block-shaped as shown in the figure. Through the snap-fit ​​engagement between the positioning latch 52 and the first slot 321, a stable lock can be achieved between the blade body 3 and the hub 1 in the folded state. In addition, the positioning latch 52 can also be used to provide a mounting base for the positioning pin 51. In this case, since the shape of the positioning latch 52 is easier to connect with the locking drive assembly 4, the locking drive assembly 4 can drive the positioning pin 51 to move by driving the positioning latch 52.

[0087] Optionally, refer to Figures 1 to 8 The rotor hub 1 has a second slot 11; when the rotor body 3 rotates to the folded state, the second slot 11 and the first slot 321 are arranged side by side, and the positioning locking tongue 52 is used to simultaneously engage with the first slot 321 and the second slot 11.

[0088] Specifically, the second slot 11 is always positioned opposite to the positioning latch 52. When the first slot 321 rotates to the folded state with the blade body 3, the first slot 321 is opposite to the positioning latch 52 and is arranged side by side with the first slot 321. At this time, the locking drive assembly 4 can drive the positioning latch 52 to move along the second axis so that the positioning latch 52 can be simultaneously engaged in the first slot 321 and the second slot 11. In this way, the positioning latch 52 can be improved by limiting the positioning latch 52 with the second slot 11, thus avoiding the problem that the positioning latch 52 located at the far end of the locking drive assembly 4 will shake due to the excessive lever arm and insufficient self-locking force of the locking drive assembly 4, and thus cannot effectively lock the blade body 3 through the engagement between the positioning latch 52 and the first slot 321. This further improves the locking stability between the blade body 3 and the hub 1 in the folded state.

[0089] Optionally, refer to Figures 1 to 8 The locking drive assembly 4 includes a drive device 41 and a lead screw drive mechanism 42. One end of the lead screw drive mechanism 42 is connected to the drive device 41, and the other end of the lead screw drive mechanism 42 is connected to the positioning lock tongue 52. The drive device 41 is used to drive the positioning lock tongue 52 to move along the first axis or the second axis through the lead screw drive mechanism 42.

[0090] The driving device 41 can specifically be a rotary drive device such as a motor; the lead screw transmission mechanism 42 can convert the rotary motion of the driving device 41 into linear motion, thereby driving the positioning latch 52 and the positioning pin 51 to move along the first axis or the second axis, thus realizing the insertion engagement between the positioning pin 51 and the pin hole 312 in the unfolded state, and the locking engagement between the positioning latch 52 and the first slot 321 in the folded state. Specifically, the lead screw transmission mechanism 42 includes a lead screw body and a lead screw nut, which is screwed onto the lead screw body and can be fixed to the positioning latch 52; the driving device 41 is used to drive the lead screw body to rotate, so as to drive the positioning latch 52 to move along the first axis or the second axis through the screw engagement between the lead screw body and the lead screw nut, thereby driving the positioning pin 51 to move along the first axis or the second axis.

[0091] This embodiment employs a lead screw drive, which ensures transmission accuracy. Furthermore, the lead screw drive mechanism 42 occupies relatively little space in the radial direction, effectively preventing interference between the locking lug 311 and the lead screw drive mechanism 42 during the rotation of the blade body 3 from a folded state to an unfolded state.

[0092] Optionally, refer to Figures 1 to 8 The locking component 5 includes two spaced positioning pins 51, and the screw drive mechanism 42 is located between the two positioning pins 51; the first mating structure 31 includes two locking ears 311, and each locking ear 311 is provided with a pin hole 312.

[0093] When the blade body 3 rotates to the unfolded state, the screw drive mechanism 42 is located between the two locking lugs 311, and the first ends of at least two positioning pins 51 are used to be inserted into at least two pin holes 312 in a one-to-one correspondence.

[0094] In this embodiment, the two positioning pins 51 are locked in a one-to-one correspondence with the two pin holes 312, which improves the locking stability between the blade body 3 and the hub 1. Specifically, the screw drive mechanism 42 can be connected to the middle of the positioning latch 52, with the second end of one positioning pin 51 connected to one end of the positioning latch 52, and the second end of the other positioning pin 51 connected to the other end of the positioning latch 52. The positions of the two locking ears 311 correspond to the positions of the two positioning pins 51. Figures 1 to 4As shown, during the process of the blade body 3 rotating from the folded state to the unfolded state, the screw drive mechanism 42 can pass through the gap area between the two locking ears 311 without causing interference. The pin holes 312 on the two locking ears 311 can also move to the corresponding positions with the two positioning pins 51 as the blade body 3 rotates. Thus, the two positioning pins 51 can be inserted into the two pin holes 312 one by one to complete the locking of the blade body 3 in the unfolded state.

[0095] Optionally, refer to Figures 1 to 8 The propeller hub 1 is provided with a first limiting ear 12, and the first limiting ear 12 is provided with a first limiting through hole 121;

[0096] When the blade body 3 rotates to the unfolded state, the first limiting ear 12 is located on the side of the locking ear 311 facing the second mating structure 32. The locking drive assembly 4 is used to drive the positioning pin 51 to move along the first axis so that the first end of the positioning pin 51 passes through the first limiting through hole 121 and is inserted into the pin hole 312.

[0097] In a schematic diagram, when the locking drive assembly 4 includes a drive device 41 and a lead screw transmission mechanism 42, the first limiting ear 12 can be provided with a first clearance through hole, the drive device 41 is disposed on the side of the first limiting ear 12 facing away from the second limiting structure, the lead screw transmission mechanism 42 passes through the first clearance through hole, and the positioning lock tongue 52 and the positioning pin 51 are located between the first limiting ear 12 and the second limiting structure.

[0098] When the blade body 3 rotates to the unfolded state, the first limiting ear 12 is located between the positioning pin 51 and the locking ear 311. At this time, the positioning latch 52 and the positioning pin 51 can be driven to move along the first axis by the locking drive assembly 4, so that the first end of the positioning pin 51 passes through the first limiting through hole 121 and is inserted into the pin hole 312. The first limiting through hole 121 can play a preliminary positioning role for the positioning pin 51, which can improve the positional stability of the positioning pin 51 during the movement along the first axis, so that the first end of the positioning pin 51 can be inserted into the pin hole 312 more accurately.

[0099] Optionally, refer to Figures 1 to 8 The propeller hub 1 is provided with a second limiting ear 13, and the second limiting ear 13 is provided with a second limiting through hole 131;

[0100] When the blade body 3 rotates to the unfolded state, the second limiting ear 13 is located on the side of the locking ear 311 facing away from the second mating structure 32. The locking drive assembly 4 is used to drive the positioning pin 51 to move along the first axis so that the first end of the positioning pin 51 passes through the pin hole 312 and is inserted into the second limiting through hole 131.

[0101] In a schematic diagram, when the locking drive assembly 4 includes a drive device 41 and a lead screw transmission mechanism 42, the second limiting ear 13 can be provided with a second clearance through hole. The drive device 41 is located on the side of the second limiting ear 13 facing away from the second limiting structure. The lead screw transmission mechanism 42 passes through the second clearance through hole. The positioning lock tongue 52 and the positioning pin 51 are located between the second limiting ear 13 and the second limiting structure.

[0102] When the blade body 3 rotates to the unfolded state, the locking lug 311 is located between the second limiting lug 13 and the positioning pin 51. At this time, the positioning latch 52 and the positioning pin 51 can be moved along the first axis by the locking drive assembly 4, so that the first end of the positioning pin 51 passes through the pin hole 312 and is inserted into the second limiting through hole 131. Based on the limiting effect of the second limiting through hole 131 on the positioning pin 51, the positional stability of the positioning pin 51 can be improved, avoiding the problem that the end of the positioning pin 51 will shake due to the excessive lever arm, thus failing to effectively lock the blade body 3 through the insertion and engagement between the positioning pin 51 and the pin hole 312. This further improves the locking stability between the blade body 3 and the hub 1 in the unfolded state.

[0103] Optionally, refer to Figures 1 to 8 The locking drive assembly 4 includes a drive device 41 and a lead screw drive mechanism 42. One end of the lead screw drive mechanism 42 is connected to the drive device 41, and the other end of the lead screw drive mechanism 42 is connected to the locking member 5. The drive device 41 is used to drive the locking member 5 to lock into the first mating structure 31 or the second mating structure 32 through the lead screw drive mechanism 42.

[0104] The driving device 41 can specifically be a rotary drive device such as a motor; the screw transmission mechanism 42 can convert the rotary motion of the driving device 41 into linear motion to drive the locking member 5 to move, thereby realizing the locking engagement between the locking member 5 and the first mating structure 31 in the unfolded state, and the locking engagement between the locking member 5 and the second mating structure 32 in the folded state. Specifically, the screw transmission mechanism 42 includes a screw body and a screw nut, the screw nut being screwed onto the screw body and can be fixed to the locking member 5; the driving device 41 is used to drive the screw body to rotate, so as to drive the locking member 5 to move through the screw engagement between the screw body and the screw nut.

[0105] This embodiment employs a lead screw drive, which ensures transmission accuracy. Furthermore, the lead screw drive mechanism 42 occupies relatively little space in the radial direction, effectively preventing interference between the locking lug 311 and the lead screw drive mechanism 42 during the rotation of the blade body 3 from a folded state to an unfolded state.

[0106] Optionally, refer to Figures 1 to 8The rotor assembly also includes a position sensing device (not shown in the figure), which is electrically connected to the locking drive assembly 4. The position sensing device is used to obtain the rotational attitude of the blade body 3.

[0107] When the blade body 3 rotates to the unfolded state, the position sensing device sends a first drive signal to the locking drive assembly 4 to trigger the locking drive assembly 4 to drive the locking member 5 to lock with the first mating structure 31; when the blade body 3 rotates to the folded state, the position sensing device sends a second drive signal to the locking drive assembly 4 to trigger the locking drive assembly 4 to drive the locking member 5 to lock with the second mating structure 32.

[0108] By acquiring the rotational attitude of the rotor blade body 3 through a position sensing device, the locking drive assembly 4 can be automatically triggered to perform corresponding locking operations when the rotor blade body 3 rotates to the deployed or folded state, without the need for manual triggering. This speeds up the operation cycle, improves efficiency, and enhances the automation and intelligence of the rotor assembly. The position sensing device can be a contact sensor, proximity sensor, etc., and is not limited here. The position sensing device can be electrically connected to the control module to send a corresponding first drive signal or second drive signal to the locking drive assembly 4 when the rotor blade body 3 is detected to have rotated to the deployed or folded state. The first drive signal and the second drive signal can be electrical signals.

[0109] Optionally, refer to Figures 1 to 8 The position sensing device is electrically connected to the blade drive assembly 2. The position sensing device is used to obtain the rotational attitude of the blade body 3 through the drive signal of the blade drive assembly 2.

[0110] When the position sensing device is electrically connected to the blade drive assembly 2, the position sensing device can not only detect and obtain the rotation attitude of the blade body 3 from the outside, but also calculate the rotation attitude of the blade body 3 based on the drive signal sent by the blade drive assembly 2 when driving the blade body 3 to rotate, thereby improving the accuracy of determining the real-time rotation attitude of the blade body 3.

[0111] Optionally, refer to Figures 1 to 8 The rotor assembly also includes a position sensing device (not shown in the figure), which is electrically connected to the locking drive assembly 4. The position sensing device is used to obtain the rotational attitude of the blade body 3.

[0112] During the process of the blade body 3 rotating from the unfolded state to the folded state, when the blade body 3 rotates to the first preset angle, the position sensing device sends a first clearance signal to the locking drive assembly 4 to trigger the locking drive assembly 4 to drive the positioning pin 51 to move along the first axis.

[0113] Reference Figures 5 to 8When the blade body 3 needs to switch between an unfolded state and a folded state, a position sensing device is needed to obtain the real-time rotational attitude of the blade body 3, so as to trigger the locking drive assembly 4 to perform a yielding operation and avoid collision between the blade body 3 and the locking member 5. Specifically, taking the locking member 5, which includes the positioning pin 51 and the positioning latch 52 in the above embodiment, as an example, Figure 8 As shown, when the blade body 3 needs to be rotated from the unfolded state to the folded state, the locking drive assembly 4 first drives the positioning pin 51 to move along the second axis, causing the positioning pin 51 to disengage from the pin hole 312. At the same time, the positioning locking tongue 52 will engage in the first slot 321. Then, the blade drive assembly 2 can drive the blade body 3 to rotate. Figure 7 As shown, when the blade body 3 rotates to the first preset angle, the pin hole 312 has moved with the locking lug 311 to a position that is not opposite to the positioning pin 51. At this time, the position sensing device that obtains the current position of the blade body 3 will send a first clearance signal to the locking drive assembly 4 to trigger the locking drive assembly 4 to drive the positioning pin 51 as shown. Figure 6 As shown, the positioning latch 52 moves away from the rotating lug 33 along the first axis, thus preventing the positioning latch 52 from interfering with the continued rotation of the rotating lug 33, allowing the propeller body 3 to continue rotating in the original direction to the folded state; as Figure 5 As shown, when the blade body 3 rotates to the folded state, the position sensing device that obtains the current position of the blade body 3 can send a second drive signal to the locking drive assembly 4 to trigger the locking drive assembly 4 to drive the positioning pin 51 to move along the second axis, so that the positioning locking tongue 52 is engaged in the first slot 321, thereby locking the blade body 3 in the folded state.

[0114] Based on the above settings, the position sensing device can be used to better coordinate the action rhythm of the blade body 3 during the folding action, improve the accuracy of the coordination between the rotation action and the locking action of the blade body 3, and avoid interference problems.

[0115] Optionally, refer to Figures 1 to 8 The rotor assembly also includes a position sensing device, which is electrically connected to the locking drive assembly 4. The position sensing device is used to obtain the rotational attitude of the blade body 3.

[0116] During the process of the blade body 3 rotating from the folded state to the unfolded state, when the blade body 3 rotates to the second preset angle, the position sensing device sends a second clearance signal to the locking drive assembly 4 to trigger the locking drive assembly 4 to drive the positioning pin 51 to move along the second axis.

[0117] Reference Figures 4 to 8When the blade body 3 needs to switch between an unfolded state and a folded state, a position sensing device is needed to obtain the real-time rotational attitude of the blade body 3, so as to trigger the locking drive assembly 4 to perform a yielding operation and avoid collision between the blade body 3 and the locking member 5. Specifically, taking the locking member 5, which includes the positioning pin 51 and the positioning latch 52 in the above embodiment, as an example, Figure 5 As shown, when the blade body 3 needs to be rotated from the folded state to the unfolded state, the locking drive assembly 4 first drives the positioning pin 51 to move along the first axis, causing the positioning latch 52 to disengage from the first slot 321. Then, the blade drive assembly 2 can drive the blade body 3 to rotate. Figure 6 As shown, when the propeller body 3 rotates to the second preset angle, the locking lug 311 is about to collide with the positioning pin 51. At this time, the position sensing device that has obtained the current position of the propeller body 3 will send a second clearance signal to the locking drive assembly 4 to trigger the locking drive assembly 4 to drive the positioning pin 51 as shown. Figure 7 As shown, the movement along the second axis ensures that the positioning pin 51 does not obstruct the locking lug 311, allowing the locking lug 311 to continue rotating to the unfolded state; Figure 8 As shown, when the blade body 3 rotates to the unfolded state, the position sensing device that obtains the current position of the blade body 3 can send a first drive signal to the locking drive assembly 4 to trigger the locking drive assembly 4 to drive the positioning pin 51 to move along the first axis, so that the positioning pin 51 is inserted into the pin hole 312, thereby locking the blade body 3 in the unfolded state.

[0118] Based on the above settings, the position sensing device can be used to better coordinate the action rhythm of the blade body 3 during the unfolding action, improve the accuracy of the coordination between the rotation action and the locking action of the blade body 3, and avoid interference problems.

[0119] Optionally, refer to Figures 1 to 8 The rotor assembly also includes a first elastic energy storage element (not shown in the figure). One end of the first elastic energy storage element is connected to the rotor hub 1, and the other end of the first elastic energy storage element is connected to the rotor blade body 3. The first elastic energy storage element is used to prevent the rotor blade body 3 from rotating relative to the rotor hub 1 to a folded state through elastic force.

[0120] Optionally, refer to Figures 1 to 8 The rotor assembly also includes a second elastic energy storage element (not shown in the figure). One end of the first elastic energy storage element is connected to the rotor hub 1, and the other end of the first elastic energy storage element is connected to the rotor blade body 3. The second elastic energy storage element is used to prevent the rotor blade body 3 from rotating relative to the rotor hub 1 to the deployed state through elastic force.

[0121] Specifically, the first elastic energy storage element and the second elastic energy storage element can be elastic devices such as torsion springs, disc springs, compression springs, and tension springs, which are not limited here.

[0122] The first elastic energy storage element can prevent the blade body 3 from rotating relative to the hub 1 to a folded state based on its own elastic force, thereby avoiding collision damage caused by the blade drive assembly 2 driving the blade body 3 to rotate too fast. In addition, the first elastic energy storage element can accumulate elastic potential energy in the process of preventing the blade body 3 from rotating to a folded state. When it is necessary to switch the blade body 3 to the unfolded state later, the elastic potential energy of the first elastic energy storage element can be released to drive the blade body 3 to quickly change from a stationary state to a rotating state, that is, to provide the initial starting force for the blade body 3, which can reduce the driving force requirement of the blade drive assembly 2.

[0123] Similarly, the second elastic energy storage element can use its own elastic force to prevent the blade body 3 from rotating relative to the hub 1 to the unfolded state, thereby avoiding collision damage caused by the blade drive assembly 2 driving the blade body 3 to rotate too fast. In addition, the second elastic energy storage element can accumulate elastic potential energy in the process of preventing the blade body 3 from rotating to the unfolded state. When it is necessary to switch the blade body 3 to the folded state later, the elastic potential energy of the second elastic energy storage element can be released to drive the blade body 3 to quickly change from a stationary state to a rotating state, that is, to provide the initial starting force for the blade body 3, which can reduce the driving force requirement of the blade drive assembly 2.

[0124] Correspondingly, please refer to Figures 1 to 9 This application also provides an air vehicle, which includes an airframe 1000 and a rotor assembly as described in any of the above embodiments, the rotor assembly being mounted on the airframe 1000.

[0125] In this embodiment, the flying vehicle includes, but is not limited to, helicopters, flying cars, and other flying equipment. The flying vehicle includes a fuselage 1000, wings 2000, a drive module, and the rotor assembly described in the previous embodiment. The fuselage 1000 serves as the main body of the flying vehicle and may include components such as a cabin for passengers. When the flying vehicle is a flying car, the fuselage 1000 may also house a driving system. This system may include drive components such as drive wheels, clutches, gearboxes, drive shafts, and drive gears, as well as steering components such as steering wheels, steering shafts, and steering gears, and speed control components such as accelerators, decelerators, engines, and brake pads. One end of the wings 2000 is connected to the fuselage 1000, and the rotor assembly is connected to the other end of the wings 2000. Multiple wings 2000 may be provided. Figure 9As shown in the example, when there are two arms 2000, the two arms 2000 can be set on the left and right sides of the fuselage 1000 along the direction of travel, and the two arms 2000 can be roughly symmetrically set based on the central axis of the fuselage 1000, so that the flying vehicle has a twin-rotor configuration, which has a relatively stable center of gravity and reliable flight. The drive module is used to drive the rotor blade body 3 in the rotor assembly to rotate relative to the rotor hub 1, so as to push the high-pressure air below the rotor blade body 3 to move the rotor blade body 3 upward based on Bernoulli's principle, thus providing lift for the take-off and hovering of the flying vehicle.

[0126] For specific details regarding the rotor assembly, please refer to the above embodiments. Since this flying vehicle employs all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments. Specifically, the rotor body 3 can be driven to rotate relative to the rotor hub 1 to either an unfolded or folded state via the rotor drive assembly 2. This achieves automatic unfolding and folding of the rotor body 3 without the need for manual high-altitude operations, thereby improving efficiency and operational safety. When the rotor body 3 rotates to the unfolded or folded state, the locking drive assembly 4 can drive the locking member 5 to lock onto the first mating structure 31 or the second mating structure 32 on the rotor body 3. This locks the rotor body 3 in both the unfolded and folded states, ensuring the rotor body 3 remains stably in its current unfolded or folded state. This prevents the rotor body 3 from shifting relative to the rotor hub 1 under external forces, thereby improving the stability and reliability of the rotor assembly and reducing the probability of safety accidents.

[0127] The above description is merely an exemplary embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the technical concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A rotor assembly, characterized in that, The rotor assembly includes: propeller hub; A blade drive assembly is mounted on the blade hub; The blade body is connected to the blade drive assembly; the blade body has a first mating structure and a second mating structure, and the blade body is used to rotate relative to the blade hub to a folded state or an unfolded state under the drive of the blade drive assembly. A locking drive assembly is disposed on the propeller hub; A locking element is connected to the locking drive assembly; When the blade body rotates to the unfolded state, the first mating structure is opposite to the locking member, and the locking drive assembly is used to drive the locking member to lock with the first mating structure; when the blade body rotates to the folded state, the second mating structure is opposite to the locking member, and the locking drive assembly is used to drive the locking member to lock with the second mating structure.

2. The rotor assembly according to claim 1, characterized in that, The locking component includes a positioning pin; the blade body has a rotating lug, the blade body is rotatably connected to the blade hub through the rotating lug, and the second mating structure is disposed on the rotating lug; the first mating structure includes a locking lug, the locking lug and the rotating lug are spaced apart, and the locking lug is provided with a pin hole. When the blade body rotates to the unfolded state, the locking drive assembly drives the positioning pin to insert into the pin hole; when the blade body rotates to the folded state, the locking drive assembly drives the positioning pin to abut against the second mating structure.

3. The rotor assembly according to claim 2, characterized in that, When the blade body rotates to the unfolded state, the positioning pin is located between the rotating ear and the locking ear, and the locking drive assembly is used to drive the positioning pin to move along the first axis so that the first end of the positioning pin is inserted into the pin hole; when the blade body rotates to the folded state, the locking drive assembly is used to drive the positioning pin to move along the second axis so that the second end of the positioning pin abuts against the second mating structure; the second axis is opposite to the first axis.

4. The rotor assembly according to claim 3, characterized in that, The locking component further includes a positioning latch, which is connected to the second end of the positioning pin; the second mating structure includes a first slot formed on the rotating ear. When the blade body rotates to the folded state, the first slot is opposite to the positioning latch, and the locking drive assembly is used to drive the positioning pin to move along the second axis so that the positioning latch is engaged in the first slot.

5. The rotor assembly according to claim 4, characterized in that, The propeller hub has a second slot; when the propeller body rotates to the folded state, the second slot and the first slot are arranged side by side, and the positioning locking tongue is used to simultaneously engage with the first slot and the second slot.

6. The rotor assembly according to claim 4, characterized in that, The locking drive assembly includes a drive device and a lead screw transmission mechanism. One end of the lead screw transmission mechanism is connected to the drive device, and the other end of the lead screw transmission mechanism is connected to the positioning lock tongue. The drive device is used to drive the positioning lock tongue to move along the first axial direction or the second axial direction through the lead screw transmission mechanism.

7. The rotor assembly according to claim 6, characterized in that, The locking component includes two spaced-apart positioning pins, and the screw drive mechanism is located between the two positioning pins; the first mating structure includes two locking lugs, and each locking lug is provided with a pin hole. When the blade body rotates to the unfolded state, the lead screw transmission mechanism is located between the two locking lugs, and the first ends of at least two positioning pins are used to be inserted into at least two pin holes in a one-to-one correspondence.

8. The rotor assembly according to claim 3, characterized in that, The propeller hub is provided with a first limiting lug, and the first limiting lug is provided with a first limiting through hole; When the blade body rotates to the unfolded state, the first limiting ear is located on the side of the locking ear facing the second mating structure. The locking drive assembly is used to drive the positioning pin to move along the first axis so that the first end of the positioning pin passes through the first limiting through hole and is inserted into the pin hole.

9. The rotor assembly according to claim 3, characterized in that, The propeller hub is provided with a second limiting lug, and the second limiting lug is provided with a second limiting through hole; When the blade body rotates to the unfolded state, the second limiting ear is located on the side of the locking ear facing away from the second mating structure. The locking drive assembly is used to drive the positioning pin to move along the first axis so that the first end of the positioning pin passes through the pin hole and is inserted into the second limiting through hole.

10. The rotor assembly according to claim 1, characterized in that, The locking drive assembly includes a drive device and a lead screw transmission mechanism. One end of the lead screw transmission mechanism is connected to the drive device, and the other end of the lead screw transmission mechanism is connected to the locking member. The drive device is used to drive the locking member to lock into the first mating structure or the second mating structure through the lead screw transmission mechanism.

11. The rotor assembly according to claim 1, characterized in that, The rotor assembly also includes a position sensing device, which is electrically connected to the locking drive assembly and is used to acquire the rotational attitude of the blade body. When the blade body rotates to the unfolded state, the position sensing device sends a first driving signal to the locking driving assembly to trigger the locking driving assembly to drive the locking member to lock with the first mating structure; when the blade body rotates to the folded state, the position sensing device sends a second driving signal to the locking driving assembly to trigger the locking driving assembly to drive the locking member to lock with the second mating structure.

12. The rotor assembly according to claim 11, characterized in that, The position sensing device is electrically connected to the blade drive assembly, and the position sensing device is used to obtain the rotational attitude of the blade body through the drive signal of the blade drive assembly.

13. The rotor assembly according to claim 3, characterized in that, The rotor assembly also includes a position sensing device, which is electrically connected to the locking drive assembly and is used to acquire the rotational attitude of the blade body. During the process of the propeller body rotating from the unfolded state to the folded state, when the propeller body rotates to a first preset angle, the position sensing device sends a first clearance signal to the locking drive assembly to trigger the locking drive assembly to drive the positioning pin to move along the first axis.

14. The rotor assembly according to claim 3, characterized in that, The rotor assembly also includes a position sensing device, which is electrically connected to the locking drive assembly and is used to acquire the rotational attitude of the blade body. During the process of the blade body rotating from the folded state to the unfolded state, when the blade body rotates to the second preset angle, the position sensing device sends a second clearance signal to the locking drive assembly to trigger the locking drive assembly to drive the positioning pin to move along the second axis.

15. The rotor assembly according to claim 1, characterized in that, The rotor assembly further includes a first elastic energy storage element, one end of which is connected to the rotor hub and the other end of which is connected to the blade body. The first elastic energy storage element is used to prevent the blade body from rotating relative to the rotor hub to the folded state through elastic force. And / or, the rotor assembly further includes a second elastic energy storage element, one end of the first elastic energy storage element is connected to the rotor hub, the other end of the first elastic energy storage element is connected to the rotor blade body, and the second elastic energy storage element is used to prevent the rotor blade body from rotating relative to the rotor hub to the deployed state through elastic force.

16. An airborne vehicle, characterized in that, The air vehicle includes an airframe and a rotor assembly as described in any one of claims 1 to 15, the rotor assembly being mounted on the airframe.

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