CN101992854A - Foldable six-axis multi-rotor aircraft - Google Patents

Foldable six-axis multi-rotor aircraft Download PDF

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CN101992854A
CN101992854A CN 201010529631 CN201010529631A CN101992854A CN 101992854 A CN101992854 A CN 101992854A CN 201010529631 CN201010529631 CN 201010529631 CN 201010529631 A CN201010529631 A CN 201010529631A CN 101992854 A CN101992854 A CN 101992854A
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China
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support arm
fastener
fixed
rotor
body
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CN 201010529631
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Chinese (zh)
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CN101992854B (en
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孙强
白越
续志军
高庆嘉
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中国科学院长春光学精密机械与物理研究所
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Priority to CN2010105296314A priority Critical patent/CN101992854B/en
Publication of CN101992854A publication Critical patent/CN101992854A/en
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Abstract

The invention relates to a foldable six-axis multi-rotor c belonging to the field of aviation aircrafts. The foldable six-axis multi-rotor aircraft comprises an aircraft body, motors, six groups of motor mounting hoods, rotors and six supporting arms, wherein a motor is mounted in each motor mounting hood, rotors are arranged outside the motor mounting hood and connected with the motor, the aircraft body is connected with each motor mounting hood through the supporting arms, an aircraft control system, a sensor, a batter and an oil supply system are mounted in the aircraft body, and the six supporting arms comprise two fixed supporting arms and four rotary supporting arms. Through the dual folding structure comprising the horizontal rotary folding of the four supporting arms and the vertical rotary folding of the six supporting arms, the aircraft has smaller geometrical size, is convenient to store and effectively solves the problems of inconvenient carrying and transportation of the multi-axis multi-rotor aircraft.

Description

一种可折叠的六轴多旋翼飞行器 A foldable six-axis multi-rotor

技术领域 FIELD

[0001] 本发明涉及航空飞行器领域,特别是一种可折叠的六轴多旋翼飞行器。 [0001] The present invention relates to the field of aerospace vehicles, in particular a foldable six-axis multi-rotor. 背景技术 Background technique

[0002] 具有垂直起降和悬停功能的旋翼类飞行器,不但在军事领域发挥着重要的作用, 在灾害现场救助,危险环境探查、交通监视或者空中拍摄等领域也展示出巨大应用潜力,受到广泛关注。 [0002] rotary wing aircraft with vertical takeoff and landing class and hover capabilities, not only in the military field to play an important role in the field of disaster relief, exploration of hazardous environments, traffic surveillance or aerial photography and other fields also demonstrate great potential for application, by the extensive attention.

[0003] 当前,旋翼类飞行器主要有单旋翼(主旋翼+尾桨)直升机、双旋翼(共轴反转和非共轴反转)直升机以及多旋翼飞行器三种结构形式,比如美国麦道公司的MH-16直升机、俄罗斯的卡-29直升机、德国Microdrone公司、加拿大Dranganflyer公司的四旋翼飞行器等。 [0003] Currently, the main rotor type aircraft single rotor (rotor + primary tail rotor) helicopter rotor bis (contrarotating and non-coaxial inversion) helicopters and multi rotor three kinds of structure, such as the McDonnell Douglas U.S. the MH-16 helicopters, the Russian card -29 helicopter, Germany Microdrone company, Canada Dranganflyer's four-rotor aircraft and so on. 单旋翼直升机通过主旋翼产生升力、侧力及需要的力矩,通过尾桨克服主旋翼的反扭力矩。 Single rotor helicopter to generate lift, lateral force and moment needed by the main rotor, main rotor torque to overcome the anti-twist by the tail rotor. 双旋翼直升机通过共轴(或非共轴)反转的两个旋翼产生升力、侧力及需要的力矩。 Dual coaxial rotor helicopter by a (non-coaxial) two rotors reversed to generate lift, lateral force and moment needed. 四旋翼飞行器通过两对旋转方向相反的旋翼消除对机体产生的扭力,同时产生升力、侧力及需要的扭矩。 Quadrotors by two pairs of rotating direction of the rotor body to produce torque elimination opposite, while generating lift, side force and the required torque. 上述旋翼飞行器共同存在的问题是:其自身都是一个运动耦合系统,在飞行中的方向和姿态是耦合的,灵活性和稳定性较差,且飞行器的升力和重量比较低,设计成小型飞行器时带载能力有限。 Above rotorcraft is a common problem: the movement itself is a coupling system, in the direction of flight and attitude of the coupling is, poor flexibility and stability, and lift and lower the weight of the aircraft, designed as a small aircraft when the limited load capacity. 旋翼旋转平面非共面的六轴多旋翼飞行器可以在空中姿态保持不变的条件下改变运动方向,也可以在保持运动方向不变的条件下进行姿态调节,还可以在改变运动方向的同时进行姿态的改变,实现了运动和姿态的完全解耦。 Non-coplanar plane of rotation of the rotor of the six-axis multi-rotor motion may be maintained under conditions of constant changes in the direction of air attitude, attitude control can be performed while maintaining the direction of movement of the same conditions, it may also be changed in the direction of movement at the same time changes in attitude, to achieve a complete decoupling of movement and posture. 由于支撑臂与主机体固定成一体,六轴多旋翼飞行器几何尺寸较大,不便于携带和运输。 Since the support arm is integrally fixed to the main body, the six-axis multi-rotor geometry large, inconvenient to carry and transport. 因此,研制出一种可折叠的六轴多旋翼飞行器势在必行。 Therefore, we developed a collapsible six-axis multi-rotor is imperative.

发明内容 SUMMARY

[0004] 针对上述内容,为解决现有技术的缺陷,本发明的目的就在于提供一种可折叠的六轴多旋翼飞行器,能有效解决目前六轴多旋翼飞行器的几何尺寸较大、不易携带和运输的问题。 [0004] For the above, it is to solve the drawbacks of the prior art, an object of the present invention to provide a six-axis multi-rotor a foldable large current can effectively solve the six-axis multi rotor geometry, easy to carry and transportation problems.

[0005] 本发明解决技术问题的技术方案是,一种可折叠的六轴多旋翼飞行器,包括机体、 电机、六组电机安装罩、旋翼和六个支撑臂,电机安装罩里装有电机,旋翼放置在电机安装罩的外面并与电机相连,机体通过支撑臂与电机安装罩相连,机体内部装有飞行器控制系统、传感器、电池和供油系统,所说的六个支撑臂包括两个固定支撑臂和四个旋转支撑臂, 所说的固定支撑臂的一端通过扣件固定在机体的一侧,所说的旋转支撑臂的一端通过扣件与机体的一侧相连,且旋转支撑臂绕扣件固定轴以同侧的固定支撑臂为起点在机体所在的平面内从0°旋转到60° ;两个固定支撑臂和四个旋转支撑臂分别装在机体两侧,机体每侧均装有两个旋转支撑臂和一个固定支撑臂,固定支撑臂位于与之同侧的两个旋转支撑臂之间;所说的两个固定支撑臂在同一直线上; [0005] Solving the Problem The present invention is a foldable six-axis multi-rotor, comprising a body, a motor, a motor mounting cover six groups, and six rotor support arm, with the motor mounted in the motor housing, mounting the motor rotor is placed outside the housing and connected to the motor, is connected to the cover body and the motor is mounted via a support arm, with the internal body aircraft control system, sensors, batteries and fuel supply system, six of said support arm comprises two fixed support arm and the four rotation support arm, fixed at one end of said support arm by fasteners secured to one side of the body, one end of said arm is connected rotatably supported by the side of the fastener body, the support arm and rotates about a fasteners securing the support arm is fixed to the shaft on the same side as the starting point in the plane of rotation of the body is located from 0 ° to 60 °; two fixed rotary support arm and the four support arms are mounted on both sides of the body, are mounted on each side of the body there are two rotating arms and support a fixed support arm, the support arm is fixed to the same side therewith between two rotating support arms; said two fixed support arms on the same line; 说的固定支撑臂和旋转支撑臂均包括首杆和尾杆,首杆的一端通过销轴与尾杆的一端转动相连,并且通过挡圈与尾杆固定;所说的首杆另一端与电机安装罩相连,所说的尾杆的另一端通过扣件与机体相连。 Fixing said support arm and the arm includes a first rotation support shaft and the end of the rod, is connected to one end of the first lever is rotated by the tail end of the pin shaft, and by the fixed rod and the tail ring; and the other end of said first rod and the motor the cover is connected to the installation, the other end of said tail bar is connected via the fastener body. [0006] 本发明通过四个支撑臂的水平转动折叠和六个支撑臂的垂直转动折叠的双折叠式结构,减小了飞行器的几何尺寸,便于存放,有效的解决了多轴多旋翼飞行器不便于携带和运输的问题。 [0006] The folding and rotation of the support arm by a horizontal six four vertical support arm rotates the present invention folded double folding structure reduces the geometry of the aircraft, for easy storage, effective solution to the multi-axis does rotorcraft easy to carry and transport problems.

附图说明 BRIEF DESCRIPTION

[0007] 图1是本发明的可折叠的六轴多旋翼飞行器的结构俯视图。 [0007] FIG. 1 is a six-axis multi-foldable structure according to the present invention, the rotorcraft plan view.

[0008] 图2是本发明的可折叠的六轴多旋翼飞行器的结构仰视图。 [0008] FIG. 2 is a collapsible structure of six-axis multi-rotor bottom view of the present invention.

[0009] 图3是本发明的可折叠的六轴多旋翼飞行器的旋转支撑臂的旋转方向示意图。 [0009] FIG. 3 is a schematic diagram of the rotational direction of the support arm of the foldable six-axis multi-rotor of the present invention.

[0010] 图4是本发明的可折叠的六轴多旋翼飞行器的旋转支撑臂旋转后的示意图。 [0010] FIG. 4 is a schematic view after the rotation of the support arm foldable six-axis multi-rotor rotary present invention.

[0011] 图5是本发明的可折叠的六轴多旋翼飞行器的支撑臂折叠后的示意图。 [0011] FIG. 5 is a schematic view of the foldable six-axis multiple support arms rotorcraft folding the present invention.

[0012] 图6是本发明的第一扣件的扣板和旋转卡扣的结构示意图。 [0012] FIG. 6 is a schematic diagram of a first gusset and the rotary snap fastener of the present invention.

[0013] 图7是本发明的第一扣件的结构示意图。 [0013] FIG. 7 is a schematic view of a first fastener of the present invention.

[0014] 图8是本发明的第二扣件的结构示意图。 [0014] FIG. 8 is a schematic view of a second fastener of the present invention.

[0015] 图9是本发明的支撑臂的结构示意图。 [0015] FIG. 9 is a schematic view of a support arm of the present invention.

[0016] 图10是本发明的支撑臂折叠后的结构示意图。 [0016] FIG. 10 is a schematic view of the present invention after the folding support arm.

[0017] 图11是本发明的支撑臂与旋转卡扣连接后的结构示意图。 [0017] FIG. 11 is a schematic view of the structure after the support arm is rotatably snap connection of the invention.

[0018] 图中:1、机体,2、电机安装罩,3、固定支撑臂,4、旋转支撑臂,5、旋翼,6、扣板,7、旋转卡扣,8、第二扣件,9、第一扣件,10、销轴,11、挡圈,12、首杆,13、尾杆,14、固定轴,15、转槽,16、第一固定孔,17、卡口,18、固定卡槽,19、第二固定孔。 [0018] FIG: 1, the body 2, a motor mounting cover 3, the fixed support arm 4, a rotary support arm 5, the rotor 6, pinch, 7, rotating snap, 8, a second fastener, 9, first fastener 10, pin 11, ring 12, the first lever 13, the end of rod 14, a fixed shaft 15, transfer tank 16, a first fixing hole, 17, bayonet, 18 , fixed jaw 19, the second fixing hole.

具体实施方式 Detailed ways

[0019] 以下结合附图对本发明的具体实施方式做详细说明。 [0019] The following detailed description made in conjunction with the accompanying drawings of specific embodiments of the present invention.

[0020] 由图1至5、9至11所示,本发明的一种可折叠的六轴多旋翼飞行器,包括机体1、 电机、六组电机安装罩2、旋翼5和六个支撑臂,电机安装罩2里装有电机,旋翼5放置在电机安装罩的外面并与电机相连,机体1通过支撑臂与电机安装罩2相连,机体1内部装有飞行器控制系统、传感器、电池和供油系统,其特征在于,所说的六个支撑臂包括两个固定支撑臂3和四个旋转支撑臂4,所说的固定支撑臂3的一端通过扣件固定在机体1的一侧,所说的旋转支撑臂3的一端通过扣件与机体1的一侧相连,且旋转支撑臂4绕扣件固定轴以同侧的固定支撑臂3为起点在机体所在的平面内从0°旋转到60° ;两个固定支撑臂3和四个旋转支撑臂4分别装在机体1两侧,机体每侧均装有两个旋转支撑臂4和一个固定支撑臂3,固定支撑臂3位于与之同侧的两个旋转支撑臂4之间;所说的两个固 [0020] FIG. 1 to 5 and 9 to 11, one inventive foldable six-axis multi-rotor, comprising a body, a motor, a motor mounting cover six groups 2, 5 and six rotor support arm, motor mounting shell 2 with the motor, the motor rotor 5 is placed outside the housing and connected to the mounting machine, the body 1 is connected to the cover 2 is mounted by the support arm and the motor body 1 with internal aircraft control system, sensors, batteries and the oil system, wherein said support arm comprises two six fixed support arms 3 and 4 four rotation support arm, one end of said fixed support arm 3 by fastener 1 is fixed to one side of the body, said one end rotatably supported by the arm 3 is connected to one side of the body 1 of the fastener, and rotation of the supporting arm 4 about the fixed shaft fastener to secure the support arm 3 as a starting point the same side from 0 ° rotation in the plane of the body 60 is located [deg.]; two fixed support arms 3 and 4 are four rotation support arms mounted on both sides of the body 1, the rotation of the body on each side are equipped with two support arms 4 and a fixed support arm 3, the support arm 3 secured thereto is located in the same two rotatably supported between the side arms 4; said two solid 支撑臂4在同一直线上;所说的固定支撑臂3和旋转支撑臂4均包括首杆12和尾杆13,首杆12的一端通过销轴10与尾杆13的一端转动相连,并且通过挡圈11与尾杆13固定;所说的首杆12 另一端与电机安装罩2相连,所说的尾杆13的另一端通过扣件与机体1相连。 The supporting arm 4 in the same line; said fixed support arms 3 and 4 each include a rotary support arm 12 and the first end of the lever rod 13, one end of the first rod 12 rotatably connected by a pin 10 to one end of the tail rod 13, and by ring 11 and the end of the rod 13 is fixed; the other end of said first lever end of the rod 12 and the other end is connected to the motor mounting cover 2, said fastener 13 is connected to the body 1 through.

[0021 ] 由图1、2所示,所说的旋转支撑臂4在水平方向完全展开后,每个支撑臂两两之间相差60°。 [0021] shown in Figures 1 and 2, in the horizontal direction fully deployed, the phase difference between any two of said rotary support arms 4 each support arm 60 °.

[0022] 所说的固定支撑臂3和旋转支撑臂4中间均中空,里面贯穿装有连接线或供油管。 [0022] said fixed support arms 3 and 4 rotatably supported intermediate arm are hollow, which is equipped with cable or through feed pipe.

[0023] 所说的固定支撑臂3和旋转支撑臂4的截面为圆形、三角形、四边形、五边形或六边形。 [0023] The cross section of said fixed support arm 3 and the arm 4 is rotatably supported circular, triangular, quadrangular, pentagonal or hexagonal. [0024] 由图2至4所示,所说的扣件包括两个第一扣件9和一个第二扣件8,所说的两个第一扣件9分别装在第二扣件8的两侧。 [0024] FIG. 2 to 4, said first fastener comprises two fastener shown a second fastener 8 and 9, a first of said two fasteners 9 are mounted on the second fastener 8 both sides.

[0025] 由图6、7所示,所说的第一扣件9包括两个扣板6、两个旋转卡扣7和固定轴14, 扣板6的两端开有转槽15,扣板中间设有凸台,凸台上开有凹槽,两个扣板6相连,凹槽相对应,形成第一固定孔16 ;旋转卡扣7通过装在转槽15上的固定轴14与扣板6相连。 [0025] As shown in FIG. 6, 7, 9 of said first fastener comprises two fastening plate 6, two rotating shafts 14 and the stationary buckle 7, both ends of the gusset 6 are opened in turn grooves 15, button the intermediate plate is provided with bosses, the bosses is notched, daughter board 6 is connected to two, corresponding to the groove, the first fixing hole 16 is formed; stationary shaft 7 by snap-mounted on the rotor 14 and the groove 15 6 connected to gusset.

[0026] 由图8所示,所说的第二扣件8中间设有第二固定孔18,两端设有四个卡口17,卡口上设有固定卡槽18 ;每段的两个固定卡槽18的轴线的夹角为60°。 [0026] FIG. 8, middle of said second fastener 8 is provided with a second fixing hole 18, opening 17 is provided with four ends, with a fixed bayonet slot 18; two for each segment a fixed angle between the axis 18 of slot 60 °.

[0027] 由图2至4所示,所说的第一扣件9的第一固定孔16的轴线和第二扣件8的第二固定孔19的轴线在同一直线上。 [0027] shown in FIGS. 2 to 4, the axis of said first fastener of the first fixing hole 9 and the second fixing hole axis of the second fastener 16 8 19 along the same line.

[0028] 由图1至5所示,所说的固定支撑臂3的尾杆13通过第一扣件9上的第一固定孔16和第二扣件8上的第二固定孔19固定在机体1上,所说的旋转支撑臂4的尾杆13通过第一扣件9上的旋转卡扣7和第二扣件8上的固定卡槽18装在机体1上;所说的旋转支撑臂4绕第一扣件9上的固定轴14旋转。 [0028] FIG. 1-5, the first fastener 13 through the second fixing hole 16 on the first and second fastener 8 9 fixing hole of said fixed support arm 19 fixed to the end of the rod 3 is shown in the body 1, the rotation of said supporting arm 13 the end of rod 4 through rotation of the fixed jaw 18 on the snap fastener 97 on the first and second fastener 8 is mounted on the body 1; rotation of said support a first arm 4 about the fixed shaft 9 on the fastener 14 to rotate.

[0029] 所说的首杆在机体所在平面的垂直面内绕销轴转动,转动范围是大于或等于0° 且小于或等于180°。 [0029] The first lever to rotate about said pin in a vertical plane of the body where the rotation range is equal to or greater than 0 ° and less than or equal to 180 °.

[0030] 本发明的具体连接方式如下:第一扣件9、第二扣件8通过螺钉与机体1连接固定如图2;旋转卡扣7 —端为圆柱中空结构,与旋转支撑臂4相套接,如图11 ;第一扣件9的固定轴14两端分别套入上下两个扣板6的转槽15中,上下两个扣板6通过螺钉连接固定,如图6、7,这样,旋转支撑臂4可绕固定轴14水平旋转,固定支撑臂3不能旋转;用力推旋转支撑臂4可使其通过第二扣件8的卡口17被固定于固定卡槽18中,固定卡槽18的直径与支撑臂管径尺寸一致,加上卡口17的张力可确保其稳定、牢固,固定支撑臂3通过螺钉固定在第一扣件9的第一固定孔16和第二扣件8的第二固定孔19中,参见图3,其不可以水平移动,这样,六组支撑臂展开如图3所示,六组支撑臂相互间夹角60°,但不局限于该角度。 [0030] DETAILED connector of the present invention are as follows: 9 the first fastener, the second fastener 8 is connected by screws to the fixed body 1 in FIG. 2; the rotary snap 7-- end of a cylindrical hollow structure, the arm 4 relative to the rotary support socket, 11; ends of the first fastener 9 fixed shaft 14 respectively into the upper and lower sleeve rotation groove 6 two gusset 15, upper and lower two daughter board connector is fixed by screws 6, 6, 7, Thus, rotation of the support arm 4 is rotatable about a fixed horizontal axis 14, the support arm 3 is fixed not to rotate; a second bayonet catch 8 to 17 is fixed to the fixed jaw 18 by pushing the rotary support arm 4 may be passed through, fixing the diameter of the support arm slot same size diameter 18, 17 of the bayonet tension is applied to ensure its stable, firm support arm 3 is fixed by screws fixed to the first fixing hole 169 of the first fastener and the second the second fastener 19 in the fixing hole 8, see FIG. 3, which can not be moved horizontally, so that the support arm expanded six groups 3, six groups of each support arm between an angle 60 °, but is not limited to this angle.

[0031] 如图9所示,六组支撑臂分为首杆12和尾杆13两段杆,旋转支撑臂和固定支撑臂的尾杆13分别通过扣板6和旋转卡扣7固定于机体1上;两段杆通过销孔、销轴10和挡圈11连接固定;拆卸掉挡圈11和销轴10,首杆12可以销轴10为旋转轴沿主机体1的垂直面转动,如图10所示。 [0031] As shown, the support arm is divided into six groups of nine first shaft rod 12 and the rod end of two rods 13, rotation of the support arm and the support arms 13 are fixed by snap-fastening plate 6 and 7 is fixed to the rotating body 1 the; two lever through a pin hole, and a pin 10 connected to the fixed ring 11; detached off the retaining ring 11 and pin 10, the first pin 10 as the rod 12 may be vertical rotational axis of rotation of the main body 1, FIG. 10 FIG. 因此,该六轴多旋翼飞行器实现了水平转动折叠和垂直转动折叠的双折叠功能,如图5所示,其结构简单,有效节省了飞行器的体积,便于携带和运输。 Thus, the six-axis multi-rotor to achieve a horizontal rotation and vertical rotation of the folding folded double folding function, shown in Figure 5, the structure is simple, saving the aircraft volume, easy to carry and transport.

[0032] 本发明通过四个支撑臂的水平转动折叠和六个支撑臂的垂直转动折叠的双折叠式结构,减小了飞行器的几何尺寸,便于存放,有效的解决了多轴多旋翼飞行器不便于携带和运输的问题。 [0032] The folding and rotation of the support arm by a horizontal six four vertical support arm rotates the present invention folded double folding structure reduces the geometry of the aircraft, for easy storage, effective solution to the multi-axis does rotorcraft easy to carry and transport problems.

Claims (10)

  1. 一种可折叠的六轴多旋翼飞行器,包括机体(1)、电机、六组电机安装罩(2)、旋翼(5)和六个支撑臂,电机安装罩(2)里装有电机,旋翼(5)放置在电机安装罩的外面并与电机相连,机体(1)通过支撑臂与电机安装罩(2)相连,机体(1)内部装有飞行器控制系统、传感器、电池和供油系统,其特征在于,所说的六个支撑臂包括两个固定支撑臂(3)和四个旋转支撑臂(4),所说的固定支撑臂(3)的一端通过扣件固定在机体(1)的一侧,所说的旋转支撑臂(4)的一端通过扣件与机体(1)的一侧相连,且旋转支撑臂(4)绕扣件固定轴以同侧的固定支撑臂(3)为起点在机体所在的平面内从0°旋转到60°;两个固定支撑臂(3)和四个旋转支撑臂(4)分别装在机体(1)两侧,机体每侧均装有两个旋转支撑臂(4)和一个固定支撑臂(3),固定支撑臂(3)位于与之同侧的两个旋转支撑臂(4)之间;所说的两个固定支 A foldable six-axis multi-rotor, comprising a body (1), the motor, the motor mounting cover six groups (2), the rotor (5) and six supporting arms, the motor mounting cover (2) fitted in the motor, rotor (5) placed outside the machine and connected to the mounting cover and the motor body (1) (2) is connected to the body (1) provided with internal aircraft control system, sensors, batteries and fuel supply system through the support arm and mounting the motor housing, wherein said support arm comprises two six fixed support arm (3) rotating the support arm and the four (4), one end of said fixed support arm (3) fixed to the body by a fastener (1) side of one end of said rotary support arm (4) by the side of the fastener body (1) is connected to and rotates the support arm (4) about a fixed shaft fastener to secure the support arm on the same side (3) as a starting point in the plane of rotation of the body is located from 0 ° to 60 °; two fixed support arms (3) and the four rotation support arms (4) are respectively mounted in the body (1) on both sides, it is equipped with two on each side of the body rotating the support arm (4) and a fixed support arm (3), a fixed support arm (3) is located between (4) with two arms on the same side of the rotary support; said two fixed support 撑臂(3)在同一直线上;所说的固定支撑臂(3)和旋转支撑臂(4)均包括首杆(12)和尾杆(13),首杆(12)的一端通过销轴(10)与尾杆(13)的一端转动相连,并且通过挡圈(11)与尾杆(13)固定;所说的首杆(12)另一端与电机安装罩(2)相连,所说的尾杆(13)的另一端通过扣件与机体(1)相连。 Brace (3) on the same line; said fixed support arm (3) and a rotary support arm (4) comprises a first lever (12) and the tail shaft (13), one end of the first lever (12) by a pin (10) at one end of the tail rod (13) is pivotably attached, and by retaining ring (11) and the tail shaft (13) is fixed; the first of said rod (12) mounting the other end of the motor housing (2) is connected, said the other end of tail rod (13) by the fastener body (1) is connected.
  2. 2.根据权利要求1所述的一种可折叠的六轴多旋翼飞行器,其特征在于,所说的旋转支撑臂(4)在水平方向完全展开后,每个支撑臂两两之间相差60°。 The six-axis multi-rotor one of the foldable claimed in claim 1, wherein said rotary support arm (4) in the horizontal direction is fully deployed, the phase difference between any two arms 60 each support °.
  3. 3.根据权利要求1所述的一种可折叠的六轴多旋翼飞行器,其特征在于,所说的固定支撑臂(3)和旋转支撑臂(4)中间均中空,里面贯穿装有连接线或供油管。 The six-axis multi-rotor one of the foldable claim 1, wherein said fixed support arm (3) and a rotary support arm (4) have a hollow center, through which the connection line is equipped with or oil supply line.
  4. 4.根据权利要求1所述的一种可折叠的六轴多旋翼飞行器,其特征在于,所说的固定支撑臂(3)和旋转支撑臂(4)的截面为圆形、三角形、四边形、五边形或六边形。 4. The six-axis multi-rotor of one of said foldable in claim 1, characterized in that the cross section of said fixed support arm (3) and a rotary support arm (4) is circular, triangular, rectangular, pentagonal or hexagonal.
  5. 5.根据权利要求1所述的一种可折叠的六轴多旋翼飞行器,其特征在于,所说的扣件包括两个第一扣件(9)和一个第二扣件(8),所说的两个第一扣件(9)分别装在第二扣件(8)的两侧。 The six-axis multi-rotor of one of said foldable according to claim 1, wherein said first fastener comprises two fastener (9) and a second fastener (8), the He said two first fastener (9) respectively mounted on both sides of the second fastener (8).
  6. 6.根据权利要求5所述的一种可折叠的六轴多旋翼飞行器,其特征在于,所说的第一扣件(9)包括两个扣板(6)、两个旋转卡扣(7)和固定轴(14),扣板(6)的两端开有转槽(15),扣板中间设有凸台,凸台上开有凹槽,两个扣板(6)相连,凹槽相对应,形成第一固定孔(16);旋转卡扣(7)通过装在转槽(15)上的固定轴(14)与扣板(6)相连。 The six-axis multi-rotor according to a five-collapsible claim, wherein said first fastener (9) comprises two lining (6), two rotary buckle (7 ) and the fixed shaft (14), both ends of the lining (6) are opened in turn grooves (15), with an intermediate gusset boss bosses is notched, two lining (6) is connected to the recess corresponding groove, forming a first fixing hole (16); connected (14) with the card (6) a snap-fixing shaft (7) mounted in turn on the groove (15).
  7. 7.根据权利要求5所述的一种可折叠的六轴多旋翼飞行器,其特征在于,所说的第二扣件⑶中间设有第二固定孔(19),两端设有四个卡口(17),卡口上设有固定卡槽(18); 每段的两个固定卡槽(18)的轴线的夹角为60°。 The six-axis multi-rotor according to a five-collapsible claim, wherein said intermediate second fastener ⑶ provided with a second fixing hole (19), both ends of the card is provided with four port (17), a fixing slot (18) of the tab; the angle between the axis of the two fixed jaw (18) each segment is 60 °.
  8. 8.根据权利要求5或6或7所述的一种可折叠的六轴多旋翼飞行器,其特征在于,所说的第一扣件(9)的第一固定孔(16)的轴线和第二扣件⑶的第二固定孔(19)的轴线在同一直线上。 A foldable six-axis multi-rotor according to claim 5 or 6 or 7, wherein said first fastener (9) of the first fixing hole (16) and the axis axis of the second fixing hole (19) of the two fasteners ⑶ in the same straight line.
  9. 9.根据权利要求1或6或7所述的一种可折叠的六轴多旋翼飞行器,其特征在于,所说的固定支撑臂⑶的尾杆(13)通过第一扣件(9)上的第一固定孔(16)和第二扣件⑶上的第二固定孔(19)固定在机体(1)上,所说的旋转支撑臂(4)的尾杆(13)通过第一扣件(9)上的旋转卡扣(7)和第二扣件(8)上的固定卡槽(18)装在机体(1)上;所说的旋转支撑臂(4)绕第一扣件(9)上的固定轴(14)旋转。 According to one or more 17 6 ​​or foldable six-axis multi-rotor as claimed in claim, wherein the support arm fixed on said tail ⑶ rod (13) by a first fastener (9) a first fixing hole (16) and a second fixing hole (19) is fixed to the second fastener ⑶ body (1), rotation of said support arm (4) of the tail shaft (13) by a first fastening snap rotation (7) (9) and a second fastener member (8) of the fixed jaw (18) mounted on the body (1); a rotation of said support arm (4) about a first fastener fixed shaft (14) (9) is rotated.
  10. 10.根据权利要求1所述的一种可折叠的六轴多旋翼飞行器,其特征在于,所说的首杆在机体所在平面的垂直面内绕销轴转动,转动范围是大于或等于0°且小于或等于180°。 Six-axis multi-rotor according to claim 1 one of said foldable, characterized in that said first lever to rotate about the vertical pin in the plane of the body where the rotation range is greater than or equal to 0 ° and less than or equal to 180 °.
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