CN104260878A - Four-rotor aircraft rack with capacity of automatic folding and spreading - Google Patents
Four-rotor aircraft rack with capacity of automatic folding and spreading Download PDFInfo
- Publication number
- CN104260878A CN104260878A CN201410546937.9A CN201410546937A CN104260878A CN 104260878 A CN104260878 A CN 104260878A CN 201410546937 A CN201410546937 A CN 201410546937A CN 104260878 A CN104260878 A CN 104260878A
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- hold
- rotor
- down arm
- fold
- quadrotor
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Abstract
The invention acquires design inspiration from a mechanical aperture tuning mechanism of a camera lens, and designs an automatic folding rack comprising a central worm and gear speed reduction motor, an upper center plate, a lower center plate, a crank, connecting rods, support arms and rotor baffles. Therefore, a four-rotor aircraft can be folded to a compact square structure under the driving of the motor distributed in the center of the rack, end parts of adjacent rotors are close to the peak of the square as far as possible, positions of the rotors are relatively fixed, and accordingly, the geometric dimensioning of the four-axis aircraft is greatly reduced; and the four-rotor support arms can be spread automatically when the central motor rotates reversely.
Description
Technical field
The invention belongs to field of flight vehicle design, be specifically related to a kind of quadrotor frame that independently can fold, launch.
Background technology
Quadrotor is a kind of comparatively common and classical small aircraft, is widely used in military surveillance, resources observation, the civilian technical field such as to take photo by plane.This Flight Vehicle Structure is compact, and motion flexibly, is suitable for using in small space or complex environment.But its hold-down arm of common quadrotor mostly is unitary construction, and is solidified as a whole with fuselage, physical dimension is comparatively large, is not easy to carry.Even if some quadrotor have employed hold-down arm folding structure, scantling of structure is reduced to some extent, but these structures need manipulation personnel to fold and launch in use, bring inconvenience.Carrying to improve quadrotor, transporting, convenience in use procedure and alerting ability, need to develop a kind of quadrotor hold-down arm that independently can fold, launch, and the hold-down arm thisly independently to fold, launched can organically blend with quadrotor frame, ensure the concordance of quadrotor on integral structure, reliability, stability.
Summary of the invention
Design inspiration is obtained from camera lens mechanical type aperture mechanical tuning device, devise the autonomous folding frame be made up of center Worm reduction motor, up and down center plate, crank, connecting rod and hold-down arm, rotor baffle plate, compact square structure is folded under quadrotor can be driven at the motor being arranged in its frame central, the end of adjacent rotor is close as far as possible, for foursquare summit, the position of rotor is relatively fixing, therefore greatly reduces the physical dimension of four-axle aircraft.The autonomous expansion of four flight support arms can be realized during central electrocardiograph reversion.
Technic relization scheme of the present invention:
The single-degree-of-freedom system of the compositions such as the quadrotor frame Shi You center Worm reduction motor thisly independently to fold, launched, up and down center plate, crank, connecting rod, hold-down arm and rotor baffle plate.By to the control of motor positive and inverse being arranged in frame central, can realize the expansion of hold-down arm and folding, the self-locking effect also by worm and gear motor realizes cutting off self-lock, and ensures the stability of quadrotor rack construction.
This folding frame adopts four cover parallel-crank mechanisms to be arranged symmetrically with, and by Worm reduction motor driving crank, thus power is delivered to hold-down arm along crank, connecting rod, four hold-down arms are rotated around the circular hole at center plate edge simultaneously.When quadrotor needs the flight of expansion hold-down arm, motor rotates forward, and drives hold-down arm to launch, finally arranges in " ten " font, by the position of limit buckle limiting rod, and then prevents hold-down arm from launching excessively to reach dead point, causes being difficult to fold.When quadrotor flight is complete need folding support arm time, motor reversal, drives hold-down arm to draw in, and when making hold-down arm fold complete by designing suitable angle, limit buckle plays again the folding excessive effect of restriction.In addition, rotor baffle plate can make rotor under arbitrarily angled, and when rotor starts to contact rotor baffle plate, rotor is self-adaptative adjustment angle under the antagonistic force of rotor baffle plate, and after arm to be supported is folding, rotor playback is complete, substantially concordant with rotor baffle plate.
The attaching parts of hold-down arm and center plate adopts aluminum alloy materials to make, and the axle of hold-down arm and the hole at center plate edge form a revolute pair, the moment of flexure produced herein when this axle effectively can bear aircraft flight simultaneously.Attaching parts has end cap up and down, can prevent axle from deviating from hole.Hold-down arm and motor cabinet use ABS plastic to make, and intensity is comparatively large, and lighter in weight, vibration absorption ability is stronger.
For preventing interference of link, by two, parallel connecting rod is arranged in two planes, and ensures connecting rod stability with short sleeve.Crank is made up of dish, crank mid-game, crank lower wall and four little steel axles on crank, the middle Profile Connection that adopts is by three disc shaft couplings of motor output shaft and crank, can transmit comparatively high pulling torque, shock resistance is better, effectively can improve the stability of quadrotor flight.Limit buckle, by spacing to connecting rod and then realize spacing to hold-down arm position, both can have ensured that hold-down arm was excessively not unfolded, and also can ensure to make it excessively folding, also possess the effect of being locked by upper and lower center plate simultaneously.Near the crank at center, also have four plastics locking posts, penetrate double end stud and upper and lower centre slice is reliably locked.
The advantage of this system: hold-down arm launches with when folding, four cover parallel-crank mechanisms are not by motion undefined position, and system is single degree of freedom, and reliability is high; Adopt Worm reduction motor, moment of torsion is comparatively large, and hold-down arm acts freely, and motor speed is lower simultaneously, decreases the destruction because inertia causes system; Utilize the worm geared latching characteristics of motor itself, can realize cutting off self-lock, can again for motor power on when flying, economize energy, and folding rear power-off also can not surprisingly launch again; The use of rotor baffle plate can make hold-down arm after folding, and the physical dimension of complete machine reduces to greatest extent; It is two spacing that limit buckle can realize connecting rod, and can play certain locking effect to upper and lower center plate, one-object-many-purposes again, efficiency is high, lightweight; Multimachine structure multiple-unit combines together, and integrated level is high, and system is simplified, reliable and stable.
Accompanying drawing explanation
Figure 1 shows that parallel-crank mechanism axonometric drawing in one embodiment of the invention
Figure 2 shows that hold-down arm in one embodiment of the invention, center board section axonometric drawing.
Figure 3 shows that rotor baffle plate and limit buckle axonometric drawing in one embodiment of the invention.
Figure 4 shows that integral structure axis of dilatation mapping in one embodiment of the invention.
Figure 5 shows that in one embodiment of the invention, integral structure launches birds-eye view.
Figure 6 shows that integral structure folding shaft mapping in one embodiment of the invention.
Figure 7 shows that in one embodiment of the invention, integral structure folds birds-eye view.
Detailed description of the invention
As shown in figs. 1-7, the quadrotor frame that can independently fold is by Fig. 1 parallel-crank mechanism; Fig. 2 hold-down arm, center board section; The system that Fig. 3 rotor baffle plate and limit buckle become one.
As Fig. 1, be parallel-crank mechanism: 2 times center plate 3 cranks coil, 5 short sleeves, 6 crank mid-games, 7 crank lower walls, 8 connecting rods, 11 attaching partss, 12 long steel axles, 13 long sleeves, 18 Worm reduction motors.The frame of parallel-crank mechanism is determined by the line of the center of 2 times center plates and the axle of 11 attaching partss.Crank is made up of the short steel axle of dish on 3 cranks, 6 crank mid-games, 7 crank lower walls and centre and short sleeve, and 8 connecting rods of hold-down arm A, B coil the plane between 6 crank mid-games on 3 cranks; The plane of connecting rod 8 between crank mid-game 6 and crank lower wall 7 of hold-down arm C, D, avoids interfering.
As Fig. 2, be hold-down arm, center plate and its attaching parts: center plate on 1,11 attaching partss, 14 end caps, 15 square tubes, 16 motor cabinets, 19 brushless motors, 20 rotors.Hold-down arm is made up of 11 attaching partss, 15 square tubes, 16 motor cabinets, and 11 attaching partss are fixed with 14 end caps up and down, prevents attaching parts from deviating from
As Fig. 3, be rotor baffle plate and limit buckle: 9 limit buckles, 10 rotor baffle plates.Limit buckle is fixed on upper and lower center plate, limiting rod position and then restriction hold-down arm position.Rotor baffle plate setting angle is adjustable, to adapt to shape and the size of rotor.
As Fig. 4-7, according to Fig. 1-3, by Fig. 1 parallel-crank mechanism, Fig. 2 hold-down arm, center plate and its attaching parts, the system that Fig. 3 rotor baffle plate and limit buckle become one.
The above is only preferred embodiments of the present invention, not any pro forma restriction is done to the present invention, all according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all belong in the scope of technical solution of the present invention.
Claims (5)
1. the quadrotor frame can independently fold, launched, is characterized in that utilizing the parallel-crank mechanism transferring power be arranged symmetrically with, and drive hold-down arm to fold and launch, primary mover is Worm reduction motor.This system adds limit buckle and rotor baffle plate.
2. the quadrotor frame that independently can fold, launch according to claim 1, it is characterized in that the parallel-crank mechanism transferring power with being arranged symmetrically with, and make this mechanism's whole process not by motion undefined position, make hold-down arm reliably launch with folding, structure is simple, and weight is slim and graceful.
3. the quadrotor frame that independently can fold, launch according to claim 1, it is characterized in that using Worm reduction motor to be primary mover, ensure to increase also can to utilize while moment of torsion the latching characteristics of itself realize hold-down arm expansion, folding put in place after locked, and utilize the character of its low speed to prevent it from destroying because inertia produces the structure of quadrotor.
4. the quadrotor frame that independently can fold, launch according to claim 1, is characterized in that the position of limit buckle by limiting rod, can prevent hold-down arm from launching excessively, it can be prevented again excessively folding, realize the two spacing of two kinds of operating modes.
5. the quadrotor frame that independently can fold, launch according to claim 1, rotor baffle plate is it is characterized in that to be fixed on upper center plate, when hold-down arm is folded, which kind of angle no matter rotor be in, and can transfer state approximately parallel with rotor baffle plate under the effect of rotor baffle plate.Finally, four rotor head and the tail are linked to be square, save space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410546937.9A CN104260878A (en) | 2014-10-16 | 2014-10-16 | Four-rotor aircraft rack with capacity of automatic folding and spreading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410546937.9A CN104260878A (en) | 2014-10-16 | 2014-10-16 | Four-rotor aircraft rack with capacity of automatic folding and spreading |
Publications (1)
| Publication Number | Publication Date |
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| CN104260878A true CN104260878A (en) | 2015-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410546937.9A Pending CN104260878A (en) | 2014-10-16 | 2014-10-16 | Four-rotor aircraft rack with capacity of automatic folding and spreading |
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Cited By (21)
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|---|---|---|---|---|
| CN104743132A (en) * | 2015-04-17 | 2015-07-01 | 浙江工业职业技术学院 | Aerial photography device |
| CN104859836A (en) * | 2015-05-06 | 2015-08-26 | 浙江工业大学之江学院 | Unmanned aerial vehicle |
| CN104943858A (en) * | 2015-07-03 | 2015-09-30 | 广西大学 | Multifunctional coaxial double-rotor-wing four-shaft aircraft |
| CN104986324A (en) * | 2015-07-15 | 2015-10-21 | 广州天翔航空科技有限公司 | Rotary locking mechanism and plant protection unmanned aerial vehicle with the same |
| CN105035317A (en) * | 2015-09-01 | 2015-11-11 | 湖南云顶智能科技有限公司 | Propeller folding and unfolding device for unmanned aerial vehicle |
| CN105109666A (en) * | 2015-03-24 | 2015-12-02 | 林日壮 | Air vehicle with folding arms |
| CN105460211A (en) * | 2015-12-30 | 2016-04-06 | 联想(北京)有限公司 | Flight device |
| CN105775151A (en) * | 2016-01-29 | 2016-07-20 | 上海云舞网络科技有限公司 | 360 degree panoramic aerial photographing and video recording unmanned aerial vehicle and rack frame |
| CN104816825B (en) * | 2015-04-13 | 2016-08-31 | 北京航空航天大学 | A kind of flexible folding exhibition rotor |
| CN106114815A (en) * | 2016-07-27 | 2016-11-16 | 上海未来伙伴机器人有限公司 | Adjustable in steps aircraft horn and aircraft |
| CN106240790A (en) * | 2016-08-17 | 2016-12-21 | 深圳天鹰兄弟无人机创新有限公司 | A kind of multi-rotor aerocraft platform being easy to storage |
| WO2017039233A1 (en) * | 2015-09-01 | 2017-03-09 | 한국항공우주연구원 | Drone capable of varying propeller arrangement shape |
| WO2017143643A1 (en) * | 2016-02-22 | 2017-08-31 | 深圳市大疆创新科技有限公司 | Frame of unmanned aerial vehicle, unmanned aerial vehicle, and use method therefor |
| CN107117296A (en) * | 2017-04-05 | 2017-09-01 | 西北工业大学 | A kind of foldable quadrotor frame |
| RU2632779C1 (en) * | 2016-09-14 | 2017-10-09 | ФЕДЕРАЛЬНОЕ ГОСУДАРСТВЕННОЕ КАЗЕННОЕ ВОЕННОЕ ОБРАЗОВАТЕЛЬНОЕ УЧРЕЖДЕНИЕ ВЫСШЕГО ОБРАЗОВАНИЯ "Военная академия Ракетных войск стратегического назначения имени Петра Великого" МИНИСТЕРСТВА ОБОРОНЫ РОССИЙСКОЙ ФЕДЕРАЦИИ | Portable unmanned multi-purpose aircraft |
| WO2018018503A1 (en) * | 2016-07-28 | 2018-02-01 | 深圳市大疆创新科技有限公司 | Chassis assembly and unmanned aerial vehicle utilizing same |
| WO2018040312A1 (en) * | 2016-08-31 | 2018-03-08 | 数字鹰科技盐城有限公司 | Unmanned aerial vehicle of folding wing-type |
| CN108513555A (en) * | 2017-02-24 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Foldable rack, rack components and unmanned vehicle |
| CN112722300A (en) * | 2015-04-21 | 2021-04-30 | 高途乐公司 | Aerial capture platform |
| CN113347847A (en) * | 2021-08-09 | 2021-09-03 | 深圳市宏亿时代电子有限公司 | Rack for communication equipment |
| CN113716014A (en) * | 2021-08-19 | 2021-11-30 | 航天时代飞鹏有限公司 | Four-rotor unmanned aerial vehicle capable of independently retracting and releasing horn and horn retracting and releasing method |
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| CN105109666A (en) * | 2015-03-24 | 2015-12-02 | 林日壮 | Air vehicle with folding arms |
| CN104816825B (en) * | 2015-04-13 | 2016-08-31 | 北京航空航天大学 | A kind of flexible folding exhibition rotor |
| CN104743132A (en) * | 2015-04-17 | 2015-07-01 | 浙江工业职业技术学院 | Aerial photography device |
| CN104743132B (en) * | 2015-04-17 | 2016-09-07 | 浙江工业职业技术学院 | Aerial device |
| US11899472B2 (en) | 2015-04-21 | 2024-02-13 | Gopro, Inc. | Aerial vehicle video and telemetric data synchronization |
| CN112722300A (en) * | 2015-04-21 | 2021-04-30 | 高途乐公司 | Aerial capture platform |
| CN104859836A (en) * | 2015-05-06 | 2015-08-26 | 浙江工业大学之江学院 | Unmanned aerial vehicle |
| CN104943858A (en) * | 2015-07-03 | 2015-09-30 | 广西大学 | Multifunctional coaxial double-rotor-wing four-shaft aircraft |
| CN104986324B (en) * | 2015-07-15 | 2017-03-08 | 广州天翔航空科技有限公司 | A kind of rotary locking mechanism and the plant protection unmanned plane with which |
| CN104986324A (en) * | 2015-07-15 | 2015-10-21 | 广州天翔航空科技有限公司 | Rotary locking mechanism and plant protection unmanned aerial vehicle with the same |
| US10870478B2 (en) | 2015-09-01 | 2020-12-22 | Korea Aerospace Research Institute | Drone capable of varying propeller arrangement shape |
| CN105035317A (en) * | 2015-09-01 | 2015-11-11 | 湖南云顶智能科技有限公司 | Propeller folding and unfolding device for unmanned aerial vehicle |
| WO2017039233A1 (en) * | 2015-09-01 | 2017-03-09 | 한국항공우주연구원 | Drone capable of varying propeller arrangement shape |
| CN107960073B (en) * | 2015-09-01 | 2021-01-05 | 韩国航空宇宙研究院 | Unmanned aerial vehicle with variable propeller configuration shape |
| CN105035317B (en) * | 2015-09-01 | 2017-12-12 | 湖南云顶智能科技有限公司 | Propeller draw off gear for unmanned plane |
| CN107960073A (en) * | 2015-09-01 | 2018-04-24 | 韩国航空宇宙研究院 | Variable helical paddle configures the unmanned plane of shape |
| CN105460211A (en) * | 2015-12-30 | 2016-04-06 | 联想(北京)有限公司 | Flight device |
| CN105775151A (en) * | 2016-01-29 | 2016-07-20 | 上海云舞网络科技有限公司 | 360 degree panoramic aerial photographing and video recording unmanned aerial vehicle and rack frame |
| WO2017143643A1 (en) * | 2016-02-22 | 2017-08-31 | 深圳市大疆创新科技有限公司 | Frame of unmanned aerial vehicle, unmanned aerial vehicle, and use method therefor |
| US11427319B2 (en) | 2016-02-22 | 2022-08-30 | SZ DJI Technology Co., Ltd. | Foldable multi-rotor aerial vehicle |
| US10625855B2 (en) | 2016-02-22 | 2020-04-21 | SZ DJI Technology Co., Ltd. | Foldable multi-rotor aerial vehicle |
| CN106114815B (en) * | 2016-07-27 | 2024-02-27 | 上海未来伙伴机器人有限公司 | Graded-adjustable aircraft horn and aircraft |
| CN106114815A (en) * | 2016-07-27 | 2016-11-16 | 上海未来伙伴机器人有限公司 | Adjustable in steps aircraft horn and aircraft |
| WO2018018503A1 (en) * | 2016-07-28 | 2018-02-01 | 深圳市大疆创新科技有限公司 | Chassis assembly and unmanned aerial vehicle utilizing same |
| CN106240790B (en) * | 2016-08-17 | 2018-09-28 | 深圳天鹰兄弟无人机创新有限公司 | A kind of multi-rotor aerocraft platform convenient for storage |
| CN106240790A (en) * | 2016-08-17 | 2016-12-21 | 深圳天鹰兄弟无人机创新有限公司 | A kind of multi-rotor aerocraft platform being easy to storage |
| WO2018040312A1 (en) * | 2016-08-31 | 2018-03-08 | 数字鹰科技盐城有限公司 | Unmanned aerial vehicle of folding wing-type |
| RU2632779C1 (en) * | 2016-09-14 | 2017-10-09 | ФЕДЕРАЛЬНОЕ ГОСУДАРСТВЕННОЕ КАЗЕННОЕ ВОЕННОЕ ОБРАЗОВАТЕЛЬНОЕ УЧРЕЖДЕНИЕ ВЫСШЕГО ОБРАЗОВАНИЯ "Военная академия Ракетных войск стратегического назначения имени Петра Великого" МИНИСТЕРСТВА ОБОРОНЫ РОССИЙСКОЙ ФЕДЕРАЦИИ | Portable unmanned multi-purpose aircraft |
| CN108513555A (en) * | 2017-02-24 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Foldable rack, rack components and unmanned vehicle |
| CN107117296A (en) * | 2017-04-05 | 2017-09-01 | 西北工业大学 | A kind of foldable quadrotor frame |
| CN113347847B (en) * | 2021-08-09 | 2021-11-02 | 深圳市宏亿时代电子有限公司 | Rack for communication equipment |
| CN113347847A (en) * | 2021-08-09 | 2021-09-03 | 深圳市宏亿时代电子有限公司 | Rack for communication equipment |
| CN113716014A (en) * | 2021-08-19 | 2021-11-30 | 航天时代飞鹏有限公司 | Four-rotor unmanned aerial vehicle capable of independently retracting and releasing horn and horn retracting and releasing method |
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