Folding device of cylindrical-launched unmanned rotorcraft

Abstract

The utility model provides a folding device of a cylindrical unmanned rotorcraft, comprising: a fixed bin body, the fixed bin body is internally provided with an accommodating cavity, and a folding opening part is also arranged on the fixed bin body along the circumferential direction of the fixed bin body; the folding mechanism comprises a fixed seat and a folding assembly, the folding assembly comprises an arm sleeve, a machine arm and a torsion spring, the fixed seat is connected with the fixed bin body, one end of the arm sleeve is rotationally connected with the fixed seat through a rotating shaft, the other end of the arm sleeve is connected with one end of the machine arm, the torsion spring is arranged on the rotating shaft in a sleeving mode, and one torsion arm of the torsion spring is connected with the fixed seat; the other torsion arm of the torsion spring is connected with the arm sleeve, and the vehicle arm can penetrate through the folding opening part to be in an extending state, or the vehicle arm penetrates through the folding opening part to be folded in the containing cavity. The folding device is simple in structure and more convenient to install, the folding function of the unmanned aerial vehicle arms can be achieved, and therefore the size of the unmanned aerial vehicle is reduced, and the unmanned aerial vehicle is convenient to carry.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a folding device for a tube-launched rotary-wing UAV. Background Technology

[0002] Compared to traditional drones, the folding design of tube-launched rotor drones allows for a significant reduction in size. The circumference of the recovered fuselage can be held in one hand, making it convenient to carry and store. Enhanced protection: the folding function not only reduces space occupation but also protects the drone's critical components (such as propellers, sensors, and batteries) from impacts or damage, thereby extending its service life. High flexibility: when folded, it can be easily transported and stored, taking up less space when not in use, while still maintaining sufficient flight performance and stability when unfolded to adapt to different mission requirements.

[0003] Chinese patent application CN219545098U discloses a foldable rotorcraft drone. This design cleverly utilizes the drone's arms, divided into two relatively movable sections. The arms are raised (at which point the arms move in a circle around the inner arm's hinge point), generating centrifugal force. This centrifugal force causes the outer arm to unfold outwards, and it is then secured by a stop. However, folding requires the arms to retract, resulting in a complex mechanical structure, cumbersome installation, and high manufacturing costs, potentially limiting its capabilities. Summary of the Invention

[0004] This application provides a folding device for a cannon-launched rotary-wing UAV to solve the technical problem that the automatic arm deployment structure of cannon-launched rotary-wing UAVs after ejection from the cannon is relatively complex in the prior art. The technical solution is as follows:

[0005] This application provides a folding device for a tube-launched rotary-wing unmanned aerial vehicle, comprising:

[0006] A fixed compartment body, the fixed compartment body having an internal receiving cavity, and a folding opening provided on the fixed compartment body along its circumference;

[0007] A folding device, the folding mechanism including a fixed base and a folding assembly, the folding assembly including an arm sleeve, a machine arm and a torsion spring, the fixed base being connected to the fixed compartment, one end of the arm sleeve being rotatably connected to the fixed base via a rotating shaft, the other end of the arm sleeve being connected to one end of the machine arm, the torsion spring being sleeved on the rotating shaft, one torsion arm of the torsion spring being connected to the fixed base, and the other torsion arm of the torsion spring being connected to the arm sleeve, the machine arm being able to pass through the folding opening in an extended state, or the machine arm being able to pass through the folding opening and then fold into the receiving cavity.

[0008] In one embodiment, the fixed base is provided with a first limiting groove, the arm sleeve is provided with a second limiting groove, one torsion arm of the torsion spring is placed in the first limiting groove, and the other torsion arm of the torsion spring is placed in the second limiting groove.

[0009] In one embodiment, the fixed base is provided with a rotating base, the rotating base includes two opposing first rotating connecting plates, each of which has a first rotating connecting hole. The arm sleeve is provided with two opposing second rotating connecting plates, each of which has a second rotating connecting hole. The rotating shaft passes through the first rotating connecting hole and the second rotating connecting hole.

[0010] In one embodiment, the two second rotating connecting plates are placed between the two first rotating connecting plates, and the torsion spring is placed between the two second rotating connecting plates.

[0011] In one embodiment, the arm sleeve is provided with a fixing block, the fixing block being located between two second rotating connecting plates, and one end of the arm being inserted between the two second rotating connecting plates and connected to the fixing block. In another embodiment, the fixed chamber includes a body chamber, the interior of which forms the receiving cavity, and a fixing plate is provided on the fixing seat, the fixing plate being embedded in the receiving cavity and connected to the body chamber.

[0012] In one embodiment, the fixed housing further includes a head cover, the bottom of which is connected to the fixed base.

[0013] In one embodiment, the folding device of the tube-launched rotary-wing UAV further includes a rotor assembly mounted on the other end of the arm.

[0014] In one embodiment, the rotor assembly includes a rotor motor and a propeller blade, the propeller blade being mounted on the rotor motor; the arm is provided with a wire passage groove and a wire passage hole, the wire passage hole being located at one end of the arm near the rotor motor, the wire passage groove extending along the length direction of the arm, and the wire passage hole communicating with the wire passage groove.

[0015] In one embodiment, there are multiple robotic arms, which are spaced apart circumferentially along the fixed base.

[0016] The advantages or beneficial effects of the above technical solutions include at least the following:

[0017] The folding mechanism of the cannon-launched rotorcraft UAV of this application embodiment includes a fixed housing and a folding device. The folding mechanism includes a fixed base, an arm sleeve, an arm, and a torsion spring. The arm is connected to the arm sleeve, and the arm sleeve is rotatably connected to the fixed base via a rotating shaft. The torsion spring is sleeved on the rotating shaft. When the rotorcraft UAV's arm folds, an external force causes the torsion spring to rotate around the rotating shaft, accumulating energy. When the rotorcraft UAV exits the cannon, the torsion spring releases the energy and applies torque, thereby allowing the arm to unfold automatically. The folding device of this application embodiment has a simple structure, is more portable to install, and can realize the folding function of the cannon-launched rotorcraft UAV's arm, thereby reducing the size of the UAV and making it easier to carry.

[0018] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0019] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0020] Figure 1 This is a schematic diagram of the folding device for a tube-launched rotary-wing UAV.

[0021] Figure 2 An exploded view of the folding mechanism of a tube-launched rotary-wing UAV;

[0022] Figure 3 An exploded view of the folding mechanism and rotor assembly;

[0023] Figure 4 This is a schematic diagram of the combination of the folding mechanism and the rotor assembly;

[0024] Figure 5 This is another schematic diagram of the combination of the folding mechanism and the rotor assembly;

[0025] Figure 6 This is a schematic diagram of the folding mechanism of a tube-launched rotary-wing UAV after folding.

[0026] Figure 7 This is a schematic diagram of the folding mechanism after folding.

[0027] Figure 8 This is a cross-sectional view of the folding mechanism with the arm extended.

[0028] Figure 9 This is a cross-sectional view of the folding mechanism in the folded state of the arm;

[0029] Figure 10 This is a sectional view of the arm sleeve and the boom after they are connected.

[0030] Figure 11 This is a schematic diagram of the structure of the fixed base;

[0031] Explanation of reference numerals in the attached figures:

[0032] 1. Fixed compartment; 2. Folding mechanism; 11. Receiving cavity; 12. Folding opening; 21. Fixed base; 22. Folding assembly; 221. Arm sleeve; 222. Arm; 223. Torsion spring; 224. Rotating shaft; 13. Body compartment; 211. Fixing plate; 212. First fixing hole; 131. Second fixing hole; 14. Head cover; 213. Third fixing hole; 141. Fourth fixing hole; 2111. First limiting groove; 2 211. Second limiting groove; 214. Rotating seat; 2141. First rotating connecting plate; 2142. First rotating connecting hole; 2212. Second rotating connecting plate; 2213. Second rotating connecting hole; 2214. Fixing block; 2215. First connecting hole; 2221. Second connecting hole; 225. Bolt; 3. Rotor assembly; 31. Rotor motor; 32. Propeller blade; 2222. Wire passage hole; 2223. Wire passage groove. Detailed Implementation

[0033] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0034] like Figures 1 to 11 As shown, this application embodiment provides a folding device for a tube-launched rotary-wing UAV, including a fixed housing 1 and a folding mechanism 2. The fixed housing 1 has a receiving cavity 11 inside, and a folding opening 12 is also provided on the fixed housing 1 along its circumference. The folding mechanism 2 includes a fixed base 21 and a folding assembly 22. The folding assembly 22 includes an arm sleeve 221, a boom 222, and a torsion spring 223. The fixed base 21 is connected to the fixed housing 1. One end of the arm sleeve 221 is rotatably connected to the fixed base 21 via a rotating shaft 224, and the other end of the arm sleeve 221 is connected to one end of the boom 222. The torsion spring 223 is sleeved on the rotating shaft 224. One torsion arm of the torsion spring 223 is connected to the fixed base 21, and the other torsion arm of the torsion spring 223 is connected to the arm sleeve 221. The boom 222 can pass through the folding opening 12 in an extended state, or the boom 222 can pass through the folding opening 12 and then fold into the receiving cavity 11.

[0035] In this embodiment of the rotary-wing UAV, the arm 222 folds by using an external force to rotate the torsion spring 223 around the rotation axis 224, accumulating energy. When the rotary-wing UAV exits the cannon, the torsion spring 223 releases the energy and applies torque, thereby allowing the arm 222 to unfold automatically. The folding device in this embodiment has a simple structure, is more portable to install, and can realize the folding function of the arm 222 of the cannon-launched rotary-wing UAV, thereby reducing the size of the UAV and making it easier to carry.

[0036] In one embodiment, the fixed housing 1 includes a body housing 13, which is a cylindrical hollow structure, and the interior of the body housing 13 forms a receiving cavity 11. Preferably, the body housing 13 is provided with four folding openings 12, which are evenly distributed along the circumferential direction of the body housing 13 and extend along the height direction of the body housing 13. The bottom of the fixing base 21 can be embedded into the body housing 13 to connect with it. There are four folding components 22, and the four arms 222 can be folded into the receiving cavity 11 through the four folding openings 12 respectively. The four folding components 22 are spaced apart along the circumferential direction of the fixing base 21.

[0037] To connect the mounting base 21 to the housing 13, a fixing plate 211 is provided on the lower surface of the mounting base 21. The fixing plate 211 and the mounting base 21 can be integrally formed or connected and fixed by welding or other methods. A first fixing hole 212 is provided on the fixing plate 211, and a second fixing hole 131 is provided at the corresponding position in the housing 13. After the fixing plate 211 is inserted into the receiving cavity 11, screws are inserted into the first fixing hole 212 and the second fixing hole 131 to achieve fixation, thereby realizing the fixed connection between the mounting base 21 and the housing 13. Preferably, there can be four fixing plates 211, which are evenly distributed along the circumference of the mounting base 21, so that the mounting base 21 and the housing 13 are more firmly fixed.

[0038] In one embodiment, the fixed housing 1 further includes a nose cone 14, which is located above the fuselage housing 13. A mounting base 21 is located between the nose cone 14 and the fuselage housing 13, and is used to connect the nose cone 14 and the fuselage housing 13. The bottom of the nose cone 14 is connected to the mounting base 21. The nose cone 14 is used to protect and encapsulate flight control and related equipment.

[0039] To achieve the connection and fixation between the head cover 14 and the mounting base 21, a third fixing hole 213 is provided on the mounting base 21, and a fourth fixing hole 141 is provided at a corresponding position on the lower part of the head cover 14. After the lower part of the head cover 141 is inserted into the mounting base 21, it is fixed by inserting screws into the third fixing hole 213 and the fourth fixing hole 141. Preferably, there are four third fixing holes 213 and four fixing holes 141, and the four third fixing holes 213 are evenly distributed along the circumference of the mounting base 21.

[0040] In one embodiment, to connect the torsion spring 223 to the fixed base 21 and the arm sleeve 221, a first limiting groove 2111 is provided on the fixed base 21, and a second limiting groove 2211 is provided on the arm sleeve 221. One torsion arm of the torsion spring 223 is placed in the first limiting groove 2111, and the other torsion arm of the torsion spring 223 is placed in the second limiting groove 2211. The rotating shaft 224 can be a rivet, specifically a male-female rivet, and the torsion spring 223 is sleeved on the male-female rivet.

[0041] To achieve a rotatable connection between the arm sleeve 221 and the fixed base 21, a rotating base 214 is provided on the fixed base 21. The rotating base 214 includes two opposing first rotating connecting plates 2141, each with a first rotating connecting hole 2142. The arm sleeve 221 has two opposing second rotating connecting plates 2212, each with a second rotating connecting hole 2213. The rotating shaft 224 passes through the first rotating connecting hole 2142 and the second rotating connecting hole 2213.

[0042] Two second rotating connecting plates 2212 are placed between two first rotating connecting plates 2141, and a torsion spring 223 is placed between the two second rotating connecting plates 2212. After placing the torsion spring 223 between the two second rotating connecting plates 2212, the male and female rivets are inserted into the first rotating connecting hole 2142, the second rotating connecting hole 2213, and the torsion spring 223 for fixation. In this embodiment, the male and female rivets are used to connect the torsion spring 223, the fixing seat 21, and the arm sleeve 221 in the horizontal direction, so that the central axis of the torsion spring 223 can be pre-compressed on the arm sleeve 221 and the fixing seat 21.

[0043] In order to achieve a fixed connection between the arm 222 and the arm sleeve 221, a fixing block 2214 is provided on the arm sleeve 221. The fixing block 2214 is located between two second rotating connecting plates 2212, and one end of the arm 222 is inserted between the two second rotating connecting plates 2212 and connected to the fixing block 2214.

[0044] The fixing block 2214 and the arm sleeve 221 can be integrally formed. Two first connecting holes 2215 are provided on the fixing block 2214, and two corresponding second connecting holes 2221 are provided on the arm 222. When one end of the arm 222 is inserted between the two second rotating connecting plates 2212, and the two first connecting holes 2215 are aligned with the two second connecting holes 2221, bolts 225 are inserted into the first and second connecting holes 2215 and 2221 to connect and fix the arm sleeve 221 to the arm 222. The first connecting holes 2215 are arranged vertically perpendicular to the arm sleeve 221, and the second connecting holes 2221 are arranged vertically perpendicular to the arm 222. After inserting the bolts 225 from bottom to top into the second and first connecting holes 2221 and 2215, and using nuts, the arm sleeve 221 and arm 222 are fastened together. The bolts 225 can be countersunk bolts.

[0045] In one embodiment, the folding device of the tube-launched rotary-wing UAV further includes a rotor assembly 3, which is mounted on the other end of the arm 222. There are four arms 222, and each arm 222 has a rotor assembly 3 mounted on its other end.

[0046] Furthermore, the rotor assembly 3 includes a rotor motor 31 and a propeller blade 32. The rotor motor 31 is mounted on the arm 222 with bolts 225, and the propeller blade 32 is helically mounted on the rotor motor 31, with the propeller blade 32 facing upward.

[0047] In one embodiment, each of the four arms 222 is provided with a wire-passing hole 2222 and a wire-passing groove 2223. Preferably, each arm 22 has three wire-passing holes 2222, all located at the end of the arm 222 closest to the rotor motor 31, and arranged in a diagonal line. The wire-passing groove 2223 extends along the length of the arm 222. The wire-passing groove 2223 is located on the lower surface of the arm 222 and is recessed towards the middle of the arm 222. The three wire-passing holes 2222 are all connected to the wire-passing groove 2223. Three wire guide holes 2222 are used to guide the three-phase wires of the rotor motor 31 into the wire guide groove 2223. After the three-phase wires of the rotor motor 31 pass through the three wire guide holes 2222 and enter the wire guide groove 2223, the three-phase wires are introduced from one end of the wire guide groove 2223 to the other end of the wire guide groove 2223 near the receiving cavity 11, thereby guiding the three-phase wires into the receiving cavity 11 through the wire guide groove 2223. After the three-phase wires are placed in the wire guide groove 2223, they are sealed with adhesive, thereby fixing the three-phase wires within the wire guide groove 2223.

[0048] The mounting base 21 in this embodiment is used to connect the fuselage compartment 13 and the nose cone 14, providing stable support for various components of the tube-fired rotary-wing UAV, such as the flight control system. The fuselage compartment 13 can be used to install components such as batteries, and an equipment compartment can also be provided at the lower part of the fuselage compartment 13, with a dedicated optoelectronic pod space available on the equipment compartment.

[0049] The folding mechanism 2 of this embodiment has a simple and compact structure, making it more portable. Because it enables the folding function of the arm 222, it reduces the size of the drone and the physical space required for its transport. After the drone is ejected from the launch tube, the arm 222 can quickly unfold. Once unfolded, the arm 222 forms an X-shaped arm structure centered on the fixed housing 1, transferring external forces to multiple support points, reducing the impact of the drone's weight on individual components, and enhancing structural strength.

[0050] When the drone is deployed, it can be quickly folded and retrieved simply by arranging the propeller blades 32. The operator can operate it with one hand, and it can be held with one hand after folding.

[0051] In this embodiment, the torsion spring 223 of the UAV arm 222 is in a pre-compressed state when folded. After the folding device of the cannon-launched rotary UAV is ejected from the cannon body, the torsion spring 223 generates a reaction force, thereby releasing energy and applying torque, so that the arm 222 can automatically unfold. When the folding device of the cannon-launched rotary UAV is retracted into the cannon body, the arm 222 is folded by external force, causing the arm sleeve 221 and the arm 222 to rotate around the rotation axis 224, thereby causing the torsion spring 223 to rotate and deform.

[0052] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0054] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A folding device for a tube-launched rotary-wing unmanned aerial vehicle, characterized in that, include: A fixed compartment body, the fixed compartment body having an internal receiving cavity, and a folding opening provided on the fixed compartment body along its circumference; A folding mechanism includes a fixed base and a folding assembly. The folding assembly includes an arm sleeve, a machine arm, and a torsion spring. The fixed base is connected to the fixed compartment. One end of the arm sleeve is rotatably connected to the fixed base via a rotating shaft. The other end of the arm sleeve is connected to one end of the machine arm. The torsion spring is sleeved on the rotating shaft. One torsion arm of the torsion spring is connected to the fixed base, and the other torsion arm of the torsion spring is connected to the arm sleeve. The machine arm can extend through the folding opening or fold into the receiving cavity after passing through the folding opening.

2. The folding device for the tube-launched rotary-wing UAV according to claim 1, characterized in that, The fixed base is provided with a first limiting groove, the arm sleeve is provided with a second limiting groove, one torsion arm of the torsion spring is placed in the first limiting groove, and the other torsion arm of the torsion spring is placed in the second limiting groove.

3. The folding device for the tube-launched rotary-wing UAV according to claim 1, characterized in that, The fixed base is provided with a rotating base, the rotating base includes a first rotating connecting plate arranged opposite each other, and a first rotating connecting hole is opened on each of the two first rotating connecting plates. The arm sleeve is provided with two second rotating connecting plates arranged opposite each other, and a second rotating connecting hole is opened on each of the two second rotating connecting plates. The rotating shaft passes through the first rotating connecting hole and the second rotating connecting hole.

4. The folding device for the tube-launched rotary-wing UAV according to claim 3, characterized in that, The two second rotating connecting plates are placed between the two first rotating connecting plates, and the torsion spring is placed between the two second rotating connecting plates.

5. The folding device for the tube-launched rotary-wing UAV according to claim 3, characterized in that, The arm sleeve is provided with a fixing block, which is located between the two second rotating connecting plates. One end of the arm is inserted between the two second rotating connecting plates and connected to the fixing block.

6. The folding device for a tube-launched rotary-wing UAV according to any one of claims 1 to 5, characterized in that, The fixed compartment includes a body compartment, the interior of which forms the receiving cavity. A fixing plate is provided on the fixing seat, and the fixing plate is embedded in the receiving cavity and connected to the body compartment.

7. The folding device for a tube-launched rotary-wing UAV according to claim 6, characterized in that, The fixed housing also includes a head cover, the bottom of which is connected to the fixed base.

8. The folding device for a tube-launched rotary-wing UAV according to any one of claims 1 to 5, characterized in that, The folding device of the tube-launched rotary-wing UAV also includes a rotor assembly, which is mounted on the other end of the arm.

9. The folding device for a tube-launched rotary-wing UAV according to claim 8, characterized in that, The rotor assembly includes a rotor motor and a propeller blade. The propeller blade is mounted on the rotor motor. The arm is provided with a wire passage groove and a wire passage hole. The wire passage hole is located at one end of the arm near the rotor motor. The wire passage groove extends along the length of the arm. The wire passage hole communicates with the wire passage groove.

10. The folding device for a tube-launched rotary-wing UAV according to any one of claims 1 to 5, characterized in that, The number of the robotic arms is multiple, and the multiple robotic arms are arranged at intervals along the circumference of the fixed base.

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