Folding rotor unmanned aerial vehicle

Abstract

The folding type rotor unmanned aerial vehicle comprises a cylindrical shell, a flight control cabin, a folding mechanism cabin, a communication and load cabin and an image cabin are arranged in the shell from top to bottom in a longitudinal row mode, a multi-rotor unmanned aerial vehicle body with longitudinally-folded machine arms is arranged in the folding mechanism cabin, and containing openings are formed in the positions, corresponding to the machine arms, of the side wall of the shell. The outer ends of the vehicle arms are connected with propellers through motors, and the propellers can be clamped into the corresponding containing openings after being folded. According to the folding type rotor wing unmanned aerial vehicle, the blades of the propellers can be automatically clamped in the containing openings of the shell after being folded, meanwhile, the folded vehicle arms are restrained in the shell together, other special restraining structures are not needed, and therefore extra space occupation and restraining operation are reduced, and the carrying performance is greatly improved; and the blades of the propeller can be automatically unfolded after being separated from the containing opening, the vibration problem caused by the fact that the propeller is not unfolded in place when the motor rotates is avoided, and the take-off stability of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned aerial vehicles, and particularly relates to a folding rotor unmanned aerial vehicle. Background Art

[0002] The foldable small rotor unmanned aerial vehicle has the advantages of compact structure, convenient storage and transportation. The folding mechanism cabin, payload cabin, etc. of this type of small rotor unmanned aerial vehicle are usually longitudinally distributed under the fuselage. Therefore, it can be folded into a long cylindrical shape, a cylindrical shape, etc. The foldable parts are usually the arms and propellers. However, after folding, a special arm and propeller restraint mechanism is usually required to realize the storage of the unmanned aerial vehicle, and the carrying performance is poor; moreover, the blades of the conventional foldable propeller are generally fully movable. When the unmanned aerial vehicle takes off, the blades are thrown away by the centrifugal force generated by the rotation of the motor. However, in this process, since the blades have not reached the unfolded state with relatively balanced stress, vibration is often caused, which affects the take-off attitude and stability of the unmanned aerial vehicle. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a folding rotor unmanned aerial vehicle, which solves the problems of poor carrying performance of the existing folding rotor unmanned aerial vehicle and easy vibration when the propeller unfolds.

[0004] The technical solution adopted by the utility model is: a folding rotor unmanned aerial vehicle, including a cylindrical shell. Inside the shell, a flight control cabin, a folding mechanism cabin, a communication and payload cabin, and an image cabin are longitudinally arranged from top to bottom. Inside the folding mechanism cabin, a multi-rotor unmanned aerial vehicle body with longitudinally foldable arms is arranged. Corresponding to each arm, a receiving port is opened on the side wall of the shell. The outer ends of the arms are all connected with propellers through motors, and the propellers can be folded and clamped in the corresponding receiving ports.

[0005] The characteristics of the utility model also lie in that

[0006] The propeller includes a pair of paddle clips fixed side by side at intervals. Each of the opposite ends of the paddle clip pair is rotatably connected with a blade. Each of the opposite sides of the paddle clip pair is connected with a pin shaft. Outside each pin shaft, a spring piece with both ends extending to the same side outside the roots of the two blades is sleeved.

[0007] The multi-rotor unmanned aerial vehicle body includes a fixed seat. The inner ends of a plurality of arms are evenly and spacedly hinged to the outside of the fixed seat for one week. A torsion spring is connected between each arm and the fixed seat.

[0008] Above the top of the fixed seat, flight control and navigation equipment located in the flight control cabin is arranged.

[0009] Inside the communication and payload cabin, a longitudinal partition is arranged. On one side of the partition, a power supply is arranged, and on the other side, link and payload equipment are arranged.

[0010] Inside the image cabin, camera equipment is arranged.

[0011] The beneficial effects of the present utility model are as follows: For the folding rotor unmanned aerial vehicle of the present utility model, after the blades of the propeller are folded, they can be automatically clamped in the accommodating opening of the housing, and at the same time, the folded arms are also constrained within the housing without the need for other special constraint structures, thereby reducing the occupation of extra space and the constraint operation, and greatly improving the portability performance; and the blades of the propeller can be automatically unfolded after leaving the accommodating opening, avoiding the vibration problem caused by the incomplete unfolding of the propeller when the motor rotates, and improving the take-off stability of the unmanned aerial vehicle. Brief Description of the Drawings

[0012] Figure 1 is a schematic structural view of the folding rotor unmanned aerial vehicle of the present utility model;

[0013] Figure 2 is a schematic structural view of the folding rotor unmanned aerial vehicle of the present utility model when the propeller is folded (the upper blade clip is not shown);

[0014] Figure 3 is a schematic structural view of the folding rotor unmanned aerial vehicle of the present utility model when the propeller is unfolded (the upper blade clip is not shown);

[0015] Figure 4 is a schematic structural view of the folding rotor unmanned aerial vehicle of the present utility model when it is folded;

[0016] Figure 5 is a schematic structural view of the folding rotor unmanned aerial vehicle of the present utility model when it is unfolded.

[0017] In the figure, 1. Flight control cabin, 2. Folding mechanism cabin, 3. Communication and payload cabin, 4. Image cabin, 5. Arm, 6. Accommodating opening, 7. Motor, 8. Blade clip, 9. Blade, 10. Pin shaft, 11. Reed, 12. Fixed seat, 13. Flight control and navigation equipment, 14. Partition board, 15. Power supply, 16. Link and payload equipment, 17. Camera equipment. Detailed Description of the Specific Embodiment

[0018] The present utility model will be described in detail below in conjunction with the accompanying drawings and the specific embodiments.

[0019] Embodiment 1

[0020] The present utility model provides a folding rotor unmanned aerial vehicle, as Figure 1As shown in the figure, it includes a cylindrical shell. Inside the shell, there are arranged in a longitudinal column from top to bottom a flight control cabin 1, a folding mechanism cabin 2, a communication and payload cabin 3, and an image cabin 4. Inside the folding mechanism cabin 2, there is a multi-rotor UAV body with longitudinal folding of the arms 5. The multi-rotor UAV body includes a fixed seat 12. The inner ends of a plurality of arms 5 are evenly spaced and hinged around the outside of the fixed seat 12. A torsion spring is connected between each arm 5 and the fixed seat 12. Corresponding to each arm 5, a water-drop-shaped accommodating opening 6 is provided on the side wall of the shell. The outer ends of the arms 5 are each connected with a propeller that can be folded and clamped into the corresponding accommodating opening 6 through a motor 7, as Figure 2 and Figure 3 shown. The propeller includes a pair of paddle clips 8 fixed side by side at intervals. Each of the opposite ends of the paddle clips 8 is rotatably connected with a paddle blade 9. Each of the opposite sides of the paddle clips 8 is connected with a pin shaft 10. A reed 11 with both ends extending to the same side outside the roots of the two paddle blades 9 is sleeved outside each pin shaft 10.

[0021] When folding, as Figure 4 shown, rotate the arm 5 downward to fold it downward and enter the folding mechanism cabin 2 through the accommodating opening 6. During the rotation process, the torsion spring generates elastic deformation to store elastic potential energy. When the arm 5 enters the accommodating opening 6, pinch the two paddle blades 9 along the gap between the paddle clips 8 to make them approach each other above the bottom end of the accommodating opening 6 to the folded state. The reed 11 of the upper pin shaft 10 is compressed by the two paddle blades 9 to generate elastic deformation and store elastic potential energy. After folding, push the propeller into the accommodating opening 6, release the two paddle blades 9, and the compressed reed 11 releases elastic potential energy, pushing the two paddle blades 9 to open and abut against the side wall of the accommodating opening 6 to achieve clamping. Since the paddle blades 9 are irregular in shape front and back, their free ends can be inserted into the inner wall of the shell behind the accommodating opening 6, realizing firm clamping while being convenient for taking out. Of course, a clamping groove adapted to the outer edge shape of the paddle blade 9 can also be provided on the side wall of the accommodating opening 6 to achieve firm clamping of the paddle blade 9 and the accommodating opening 6, not limited to the specific clamping form. Importantly, only through the clamping of the paddle blade 9 and the accommodating opening 6 can the constraints of the arm 5 and the propeller, that is, all foldable components, be realized, thus eliminating the need for other special constraint structures, reducing the space occupied by the special constraint structures, and usually, the special constraint structures also require special operation methods and processes, so they can be simplified together, improving the carrying performance of the folding rotor UAV of the present utility model.

[0022] When unfolding, as Figure 5As shown in the figure, first, pinch the two blades 9 towards each other to disengage them from the clamping connection with the accommodation opening 6. Then, the compressed torsion spring releases its elastic potential energy, pushing the arm 5 to open. When the arm 5 opens, the propeller can be disengaged from the accommodation opening 6. After that, the arm 5 is fully unfolded with the fixed seat 12 as the fulcrum under the push of the torsion spring. During the unfolding process, the pinching restraint on the two blades 9 is released. After releasing the two blades 9, the compressed reed 11 releases its elastic potential energy, pushing the two blades 9 to fully unfold to the aligned state. Then, the motor 7 can be started to rotate. Since the blades 9 of the propeller are in the fully unfolded state when the motor 7 is started, there is no need for the rotation of the motor 7 to drive the unfolding, thus avoiding the vibration problem caused by the incomplete unfolding of the propeller when the motor 7 rotates, and improving the attitude stability of the UAV during takeoff.

[0023] By the above method, for the folding rotor UAV of the present utility model, the blades 9 of the propeller can be self-clamped in the accommodation opening 6 of the housing after folding, and at the same time, the folded arms 5 are also constrained in the housing together, without other special restraint structures, thereby reducing the additional space occupation and restraint operation, and greatly improving the carrying performance; and the blades 9 of the propeller can be self-unfolded after disengaging from the accommodation opening 6, avoiding the vibration problem caused by the incomplete unfolding of the propeller when the motor 7 rotates, and improving the takeoff stability of the UAV.

[0024] Embodiment 2

[0025] The present utility model provides a folding rotor UAV, which includes a cylindrical housing. Inside the housing, a flight control cabin 1, a folding mechanism cabin 2, a communication and payload cabin 3, and an image cabin 4 are longitudinally arranged from top to bottom. Inside the folding mechanism cabin 2, there is a multi-rotor UAV body with longitudinally foldable arms 5. The multi-rotor UAV body includes a fixed seat 12. Above the top of the fixed seat 12, there is a flight control and navigation device 13 located in the flight control cabin 1. The inner ends of the multiple arms 5 are evenly spaced and hinged around the outside of the fixed seat 12. A torsion spring is connected between each arm 5 and the fixed seat 12. The side wall of the housing is provided with a water-drop-shaped accommodation opening 6 corresponding to each arm 5. The outer ends of the arms 5 are each connected with a propeller that can be folded and clamped in the corresponding accommodation opening 6 through a motor 7. The propeller includes a pair of paddle clips 8 that are fixedly arranged side by side at intervals. Each of the opposite ends of the paddle clip 8 is rotatably connected with a blade 9. Each of the opposite sides of the paddle clip 8 is connected with a pin shaft 10. A reed 11 with both ends extending to the same side outside the roots of the two blades 9 is sleeved outside each pin shaft 10.

[0026] In the above - mentioned manner, for the foldable rotor UAV of the present utility model, the flight control and navigation device 13 is set to collect the attitude, position and speed information of the UAV, and issue control instructions to the execution device in combination with the control instructions. Specifically: the motor drives the propeller to generate lift. The flight control and navigation device collects the attitude and position information of the UAV through the built - in attitude sensor and satellite positioning sensor, outputs a control signal after algorithmic calculation and in combination with the instruction information, controls the rotation speed of the motor 7 to generate a control torque, and further realizes the motion control of the UAV.

[0027] Embodiment 3

[0028] The present utility model provides a foldable rotor UAV, which includes a cylindrical shell. Inside the shell, a flight control cabin 1, a folding mechanism cabin 2, a communication and payload cabin 3, and an image cabin 4 are arranged longitudinally from top to bottom. A longitudinal partition 14 is provided in the communication and payload cabin 3. A power supply 15 is arranged on one side of the partition 14, and a link and payload device 16 is arranged on the other side. A multi - rotor UAV body with longitudinally foldable arms 5 is arranged in the folding mechanism cabin 2. The multi - rotor UAV body includes a fixed seat 12. The inner ends of a plurality of arms 5 are evenly spaced and hinged around the outside of the fixed seat 12. A torsion spring is connected between each arm 5 and the fixed seat 12. Water - drop - shaped accommodating openings 6 are opened on the side wall of the shell corresponding to each arm 5. The outer ends of the arms 5 are each connected with a propeller through a motor 7, and the propeller can be folded and clamped in the corresponding accommodating opening 6. The propeller includes a pair of paddle clips 8 fixed side by side at intervals. A paddle blade 9 is rotatably connected to each of the opposite ends of the paddle clip 8. A pin shaft 10 is connected to each of the opposite sides of the paddle clip 8. A reed 11 with both ends extending to the same side outside the roots of the two paddle blades 9 is sleeved outside each pin shaft 10.

[0029] In the above - mentioned manner, for the foldable rotor UAV of the present utility model, the power supply 15 is responsible for the power supply of the whole machine and the execution of tasks. The link and payload device 16 is responsible for the link connection between the UAV and the ground station, transmits the image data to the ground station terminal, and realizes the data exchange between the ground terminal and the UAV. The partition 14 separates the two to prevent damage to the link and payload device 16 caused by the power supply 15.

[0030] Embodiment 4

[0031] The utility model provides a folding rotor unmanned aerial vehicle, which comprises a cylindrical shell. Inside the shell, a flight control cabin 1, a folding mechanism cabin 2, a communication and payload cabin 3, and an image cabin 4 are longitudinally arranged from top to bottom. A camera device 17 is arranged inside the image cabin 4. Inside the folding mechanism cabin 2, there is a multi-rotor unmanned aerial vehicle body with longitudinal folding of the machine arms 5. The multi-rotor unmanned aerial vehicle body comprises a fixed seat 12. The inner ends of a plurality of machine arms 5 are evenly and spacedly hinged to the outer circumference of the fixed seat 12. A torsion spring is connected between each machine arm 5 and the fixed seat 12. Water-drop-shaped accommodating openings 6 are formed in the side wall of the shell corresponding to each machine arm 5. The outer ends of the machine arms 5 are each connected with a propeller through a motor 7, and the propeller can be folded and clamped inside the corresponding accommodating opening 6 after folding. The propeller comprises a pair of paddle clips 8 fixed side by side at intervals. Each of the opposite ends inside the pair of paddle clips 8 is rotatably connected with a paddle blade 9. Each of the opposite sides inside the pair of paddle clips 8 is connected with a pin shaft 10. A reed 11 with both ends extending to the same side of the roots of the two paddle blades 9 is sleeved outside each pin shaft 10.

[0032] By the above method, for the folding rotor unmanned aerial vehicle of the utility model, the camera device 17 is arranged to collect the image information during the flight process and process the image data.

Claims

1. Foldable rotor UAV, characterized in that, It includes a cylindrical housing. Inside the housing, a flight control cabin (1), a folding mechanism cabin (2), a communication and payload cabin (3), and an image cabin (4) are arranged vertically from top to bottom. Inside the folding mechanism cabin (2), there is a multi-rotor UAV body with longitudinal folding of the arms (5). Accommodation openings (6) are provided on the side wall of the housing corresponding to each arm (5). The outer ends of the arms (5) are each connected by a motor (7) to a propeller that can be folded and clamped in the corresponding accommodation opening (6).

2. The foldable rotor UAV according to claim 1, wherein The propeller includes a pair of paddle clips (8) fixed side by side at intervals. Each of the opposite ends of the pair of paddle clips (8) is rotatably connected to a paddle blade (9). Each of the opposite sides of the pair of paddle clips (8) is connected to a pin shaft (10). A reed (11) with both ends extending to the same side outside the roots of the two paddle blades (9) is sleeved outside each pin shaft (10).

3. The foldable rotor UAV according to claim 1, wherein, The multi-rotor UAV body includes a fixed seat (12). The inner ends of multiple arms (5) are evenly spaced and hinged around the outside of the fixed seat (12). A torsion spring is connected between each arm (5) and the fixed seat (12).

4. The foldable rotor UAV according to claim 3, wherein, Above the top of the fixed seat (12), there is flight control and navigation equipment (13) located in the flight control cabin (1).

5. The foldable rotor UAV according to claim 1, wherein Inside the communication and payload cabin (3), there is a longitudinal partition (14). On one side of the partition (14), there is a power supply (15), and on the other side, there is link and payload equipment (16).

6. The foldable rotor UAV according to claim 1, wherein Inside the image cabin (4), there is camera equipment (17).

Images