Transverse folding type four-rotor aircraft

Abstract

The utility model relates to the technical field of four-rotor aircrafts, in particular to a transverse folding type four-rotor aircraft which comprises a main machine body, the main machine body is provided with two vertically-through channels, the end of each channel is provided with a sliding arm in a matched mode, and the end, corresponding to the center of the main machine body, of each sliding arm is provided with a control head; a sliding arm control panel is arranged in the center of the main machine body and provided with control sliding rails corresponding to the control heads. Each rotor arm is hinged to the free end of the sliding arm, the free end of each rotor arm is vertically provided with an undercarriage, the top end of each undercarriage is provided with a folding paddle, each rotor arm is internally provided with a rotor motor, and each rotor motor is electrically connected with the flight control module. In the contraction state, the undercarriage of the aircraft is attached to the edge of the main machine body, and the folding paddles are attached to the adjacent rotor arms, so that the aircraft is stored, the occupied space is small, and convenience is provided for transportation and use.

Description

Technical Field

[0001] The utility model relates to the technical field of quadrotor aircraft, in particular to a transversely foldable quadrotor aircraft. Background Art

[0002] Quadcopters achieve various actions by changing the speed of the rotors. Compared with other unmanned aerial vehicles, quadcopters are driven by four sets of motors and have the characteristics of stable flight, hovering, sideways flight and inverted flight. No turning radius is required and it is flexible. It is suitable for performing tasks such as fixed-point reconnaissance, photography, and aerial mapping. The rotor arms of large quadcopters in the prior art are usually fixed structures, which makes the aircraft larger in size during carrying and transportation. Although some quadcopters also use a folding structure, such as the MD4-1000 aircraft, despite the use of a folding structure, its volume after folding is still large, which brings inconvenience to transportation and use. Utility Model Content

[0003] The utility model provides a transversely foldable quad-rotor aircraft, in which, in a retracted state, the landing gear of the aircraft is fitted with the edge of a main body, and the folding propellers are fitted with adjacent rotor arms, thereby completing the storage of the aircraft and occupying very little space, providing convenience for transportation and use.

[0004] In order to achieve the above-mentioned purpose, the utility model provides the following technical solutions: a transversely foldable four-rotor aircraft, comprising: a main body, the main body is provided with two vertically penetrating channels, each end of the channel is matched with a sliding arm, and each sliding arm is provided with a control head at one end corresponding to the center of the main body; a sliding arm control plate is provided in the center of the main body, and the sliding arm control plate is provided with a control slide rail corresponding to each control head, and constrains the four control heads to synchronously telescope and rotate; four rotor arms, each of the rotor arms is hinged to the free end of the sliding arm, and each free end of the rotor arm is vertically provided with a landing gear, each landing gear is provided with a folding propeller at the top, and each rotor arm is provided with a rotor motor, and each rotor motor drives the corresponding folding propeller through a transmission mechanism; a flight control module, the flight control module is fixedly arranged in the main body, and each rotor motor is electrically connected to the flight control module.

[0005] Preferably, each of the control heads is a semicircular structure, and is coaxially connected to the sliding arm through a connecting column at the center of the circle; the control slide rail is a 90-degree spiral structure, and one side of each control slide rail is provided with a positioning edge for constraining the plane of the control head; each of the control slide rails is provided with a rotating space for the control head to rotate at one end corresponding to the center of the sliding arm control disk, and the end of the rotating space is a rectangular end face structure that cooperates with the plane of the control head.

[0006] Preferably, a power supply electrode is provided in the rotation space. The power supply electrode is electrically connected to the flight control module. The control head is provided with a contact electrode adapted to the power supply electrode, and the contact electrode is electrically connected to the corresponding rotor motor.

[0007] Preferably, the tops of the respective rotor arms and the landing gear are hollow structures and are interconnected through shaft holes. The rotor motor is fixedly arranged in the rotor arm. The transmission mechanism includes a rotor shaft connected to the center of the folding blade and a drive shaft connected to the rotor motor through the shaft hole. The rotor shaft and the drive shaft are meshed and driven with each other through bevel gears.

[0008] Preferably, casters are respectively provided at the bottom ends of the respective landing gears, and the axes of the respective casters are perpendicular to the length direction of the rotor arm.

[0009] Preferably, the sliding arm control disc is matched with the main body through a central axis, and a plurality of groups of positioning magnets are arranged between the periphery of the sliding arm control disc and the main body.

[0010] The beneficial effects of the present utility model are as follows: The aircraft can be realized in two forms of deployment and contraction. The deployment form is used to perform flight tasks, and the contraction form is used for parking and storage. In the contracted state, the landing gear of the aircraft fits with the edge of the main body, and the folding blades fit with the adjacent rotor arms, thereby completing the storage work of the aircraft and having a very small occupied space, providing convenience for transportation and use. The rotor arm and the main body are modularly designed. When the control head is in place, the power supply of the rotor motor can be automatically connected. Since there are no direct connection wires and plugs, it provides convenience for rapid repair in the later stage. The rotor motor is far away from the edge of the aircraft through the transmission mechanism, so as to make more weight approach the main body. The purpose of this design is to reduce the attitude control inertia of the aircraft and improve the control sensitivity of the aircraft. The casters reduce the movement resistance during the telescopic process of the sliding arm. The positioning magnets provide a self-locking force for the sliding arm control disc, thereby ensuring the stability of each rotor arm. Description of the Drawings

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0012] Figure 1 It is a schematic diagram of the deployed structure of the present utility model;

[0013] Figure 2Schematic diagram of the unlocking structure of the present utility model;

[0014] Figure 3 Schematic diagram of the contraction structure of the present utility model;

[0015] Figure 4 Cross-sectional view of the control slide rail structure of the present utility model;

[0016] Figure 5 Schematic diagram of the position of the control head of the present utility model in the unfolded state;

[0017] Figure 6 Schematic diagram of the control head of the present utility model in the unlocked state;

[0018] Figure 7 Schematic diagram of the state of the control head of the present utility model after unlocking;

[0019] Figure 8 Schematic diagram of the state of the control head of the present utility model during the contraction process.

[0020] In the figure: 1, main body; 2, channel; 3, sliding arm; 4, control head; 5, sliding arm control disc; 6, control slide rail; 7, rotor arm; 8, landing gear; 9, folding propeller; 10, rotor motor; 11, connecting column; 12, positioning edge; 13, rotating space; 14, power supply electrode; 15, contact electrode; 16, drive shaft; 17, rotor shaft; 18, caster; 19, positioning magnet. Detailed implementation manners

[0021] Next, the technical solutions of the present utility model will be clearly and completely described in conjunction with the drawings of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0022] According to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8As shown in the figure, a horizontally foldable quadcopter includes: a main body 1, the main body 1 is provided with two vertically penetrating channels 2, each end of each channel 2 is fitted with a sliding arm 3, and one end of each sliding arm 3 corresponding to the center of the main body 1 is provided with a control head 4; a sliding arm control disk 5 is arranged in the center of the main body 1, the sliding arm control disk 5 is provided with control slide rails 6 corresponding to each control head 4, and the four control heads 4 are constrained to perform synchronous telescopic and rotational movements; four rotor arms 7, each rotor arm 7 is respectively hinged to the free end of the sliding arm 3, and landing gears 8 are respectively vertically arranged at the free ends of each rotor arm 7, folding propellers 9 are arranged at the tops of each landing gear 8, rotor motors 10 are arranged in each rotor arm 7, and each rotor motor 10 drives the corresponding folding propeller 9 through a transmission mechanism; a flight control module, the flight control module is fixedly arranged in the main body 1, and each rotor motor 10 is respectively electrically connected to the flight control module.

[0023] Among them, each control head 4 is of a semi-circular structure and is coaxially connected to the sliding arm 3 through a connecting column 11 passing through the center of the circle; the control slide rail 6 is a 90-degree spiral structure, and a positioning edge 12 for constraining the plane of the control head 4 is arranged on one side in each control slide rail 6; one end of each control slide rail 6 corresponding to the center of the sliding arm control disk 5 is provided with a rotation space 13 for the control head 4 to rotate, and the end of the rotation space 13 is a rectangular end face structure that fits with the plane of the control head 4.

[0024] With the above settings, the aircraft can achieve two forms: deployment and contraction. The deployment form is used to perform flight tasks, and the contraction form is used for parking and storage. In the deployed state, by rotating the sliding arm control disk 5, the plane of the control head 4 is disengaged from the end of the control slide rail 6 and placed in the rotation space 13. At this time, the operator levels the aircraft by rotating each landing gear 8. In this state, the plane of the control head 4 cooperates with the positioning edge 12, so as to satisfy the stable free movement of the control head 4 in the control slide rail. Then the operator continues to rotate the sliding arm control disk 5, and under the action of the control slide rail, pushes each sliding arm 3 outwards to the outside of the channel 2 until the hinge joint disengages from the channel 2 to meet the folding condition. At this time, the operator folds each rotor arm 7 and the folding propeller 9 so that they fit with the edge of the main body 1 in the same direction, thus completing the storage work. In this state, the landing gear 8 of the aircraft fits with the edge of the main body 1, and the folding propeller 9 fits with the adjacent rotor arm 7, thus completing the storage work of the aircraft and having a very small floor space, which provides convenience for transportation and use.

[0025] A power supply electrode 14 is provided in the rotation space 13. The power supply electrode 14 is electrically connected to the flight control module. The control head 4 is provided with a contact electrode 15 adapted to the power supply electrode 14, and the contact electrode 15 is electrically connected to the corresponding rotor motor 10.

[0026] In this setting, the rotor arm 7 and the main body 1 of the aircraft achieve modular design. When the control head 4 is in place, the power supply of the rotor motor 10 can be automatically connected. Since there are no direct connection wires and plugs, it provides convenience for rapid emergency repair in the later stage.

[0027] The tops of the rotor arms 7 and the landing gears 8 are all hollow structures and are interconnected through shaft holes. The rotor motor 10 is fixedly arranged in the rotor arm 7. The transmission mechanism includes a rotor shaft 17 centrally connected to the folding propeller 9, and a drive shaft 16 connected to the rotor motor 10 through the shaft hole. The rotor shaft 17 and the drive shaft 16 are meshed and driven with each other through bevel gears.

[0028] In this setting, the rotor motor 10 is far from the edge of the aircraft through the transmission mechanism, so as to move more weight towards the main body 1 of the aircraft. The purpose of this design is to reduce the attitude control inertia of the aircraft and improve the control sensitivity of the aircraft.

[0029] Foot wheels 18 are respectively provided at the bottom ends of the landing gears 8, and the axes of the foot wheels 18 are perpendicular to the length direction of the rotor arm 7.

[0030] The foot wheels 18 in this setting reduce the movement resistance during the telescopic process of the sliding arm 3.

[0031] The sliding arm control disc 5 is matched with the main body 1 of the aircraft through a central axis, and a plurality of groups of positioning magnets 19 are arranged between the periphery of the sliding arm control disc 5 and the main body 1 of the aircraft.

[0032] In this setting, the positioning magnets 19 provide a self-locking force for the sliding arm control disc 5, so as to ensure the stability of each rotor arm 7.

[0033] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A transversely foldable quadrotor aircraft, characterized in that ,include: A main body (1), wherein the main body (1) is provided with two vertically penetrating channels (2), each end of the channel (2) is matched with a sliding arm (3), and each sliding arm (3) is provided with a control head (4) at one end corresponding to the center of the main body (1); a sliding arm control disk (5) is provided in the center of the main body (1), and the sliding arm control disk (5) is provided with a control slide rail (6) corresponding to each control head (4), and constrains the four control heads (4) to synchronously telescope and rotate; Four rotor arms (7), each of the rotor arms (7) being hinged to the free end of the sliding arm (3), and each of the free ends of the rotor arms (7) being vertically provided with a landing gear (8), each of the landing gears (8) being provided with a folding propeller (9) at the top, each of the rotor arms (7) being provided with a rotor motor (10), and each of the rotor motors (10) driving the corresponding folding propeller (9) through a transmission mechanism; A flight control module is fixedly arranged in the main body (1), and each of the rotor motors (10) is electrically connected to the flight control module.

2. The transversely foldable quadrotor aircraft according to claim 1, characterized in that: Each of the control heads (4) is a semicircular structure and is coaxially connected to the sliding arm (3) via a connecting column (11) at the center of the circle; the control rail (6) is a 90-degree spiral structure, and one side of each of the control rails (6) is provided with a positioning edge (12) for constraining the plane of the control head (4); each of the control rails (6) is provided with a rotating space (13) for the control head (4) to rotate at one end corresponding to the center of the sliding arm control disk (5), and the end of the rotating space (13) is a rectangular end face structure that matches the plane of the control head (4).

3. The transversely foldable quadrotor aircraft according to claim 2, characterized in that: A power supply electrode (14) is provided in the rotating space (13), and the power supply electrode (14) is electrically connected to the flight control module. The control head (4) is provided with a contact electrode (15) adapted to the power supply electrode (14), and the contact electrode (15) is electrically connected to the corresponding rotor motor (10).

4. The transversely foldable quadrotor aircraft according to claim 1, characterized in that: The tops of the rotor arms (7) and the landing gear (8) are hollow structures and are interconnected through shaft holes. The rotor motor (10) is fixedly arranged in the rotor arm (7). The transmission mechanism includes a rotor shaft (17) connected to the center of the folding propeller (9), and a drive shaft (16) connected to the rotor motor (10) through the shaft hole. The rotor shaft (17) and the drive shaft (16) are meshed with each other through bevel gears for transmission.

5. The transversely foldable quadrotor aircraft according to claim 1, characterized in that: A caster (18) is provided at the bottom end of each landing gear (8), and the axis of each caster (18) is perpendicular to the length direction of the rotor arm (7).

6. The transversely foldable quadrotor aircraft according to claim 1, characterized in that: The slide arm control disk (5) cooperates with the main body (1) via an axial shaft, and a plurality of groups of positioning magnets (19) are provided around the slide arm control disk (5) and between the main body (1).

Images