CN101992854B - Foldable six-axis multi-rotor aircraft - Google Patents
Foldable six-axis multi-rotor aircraft Download PDFInfo
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- CN101992854B CN101992854B CN2010105296314A CN201010529631A CN101992854B CN 101992854 B CN101992854 B CN 101992854B CN 2010105296314 A CN2010105296314 A CN 2010105296314A CN 201010529631 A CN201010529631 A CN 201010529631A CN 101992854 B CN101992854 B CN 101992854B
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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
Technical field
The present invention relates to the aviation aircraft field, particularly a kind of folding six multi-rotor aerocrafts.
Background technology
Have VTOL and the rotor class aircraft of the function of hovering, not only play an important role in military field, fields such as in the on-the-spot relief of disaster, hazardous environment is detected, the perhaps aerial shooting of traffic monitoring also show the huge applications potentiality, receive extensive concern.
Current; Rotor class aircraft mainly contains single rotor (main rotor+tail-rotor) helicopter, the bispin wing (contrarotation and non co axial counter-rotating) helicopter and three kinds of versions of multi-rotor aerocraft, such as four rotor crafts of the MH-16 helicopter of U.S. McDonnell-Douglas Corporation, Muscovite card-29 helicopter, German Microdrone company, Canadian Dranganflyer company etc.Single-rotor helicopter overcomes the anti-torsional moment of main rotor through the moment that main rotor produces lift, side force and needs through tail-rotor.Twin-rotor helicopter is through two rotors generation lift, side force of coaxial (or non co axial) counter-rotating and the moment that needs.Four rotor crafts are eliminated the torsion that body is produced, the moment of torsion that produces lift, side force simultaneously and need through two pairs of opposite rotors of hand of rotation.The common problem that exists of above-mentioned rotor craft is: himself all be a motion coupled system; In-flight direction and attitude are coupled; Alerting ability and less stable, and the lift of aircraft and weight ratio are lower, and load capacity is limited when being designed to small aircraft.Change sense of motion under the non-coplanar six multi-rotor aerocrafts condition that attitude remains unchanged of rotor plane of rotation aloft; Also can keep carrying out the attitude adjusting under the sense of motion unmodified condition; Can also when changing sense of motion, carry out the change of attitude, realize the full decoupled of motion and attitude.Because hold-down arm and main body are fixed into one, six multi-rotor aerocraft physical dimensions are bigger, are not easy to carry and transport.Therefore, it is imperative to develop a kind of folding six multi-rotor aerocrafts.
Summary of the invention
To foregoing, for addressing the deficiencies of the prior art, the object of the invention just is to provide a kind of folding six multi-rotor aerocrafts, the physical dimension that can effectively solve present six multi-rotor aerocrafts more greatly, the problem of not portable and transportation.
The technical scheme of technical solution problem of the present invention is; A kind of folding six multi-rotor aerocrafts; Comprise body, motor, six groups of motor mounting cups, rotor and six hold-down arms, in the motor mounting cup motor is housed, rotor is placed on the outside of motor mounting cup and links to each other with motor; Body links to each other with the motor mounting cup through hold-down arm; Internal body is equipped with flight control system, sensor, battery and fuel-feed system, and said six hold-down arms comprise two fixing branch braces and four pivotal support arms, and an end of said fixing branch brace is fixed on a side of body through fastener; One end of said pivotal support arm links to each other with a side of body through fastener, and pivotal support arm is that starting point rotates to 60 ° from 0 ° around the fastener anchor shaft in the plane that body belongs to the fixing branch brace of homonymy; Two fixing branch braces and four pivotal support arms are contained in the body both sides respectively, and the every side of body all is equipped with two pivotal support arms and a fixing branch brace, and the fixing branch brace is between two pivotal support arms of homonymy with it; Said two fixing branch braces are on same straight line; Said fixing branch brace and pivotal support arm include first bar and foot piece, and an end of first bar is rotatedly connected through an end of bearing pin and foot piece, and fixes through back-up ring and foot piece; The said first bar other end links to each other with the motor mounting cup, and the other end of said foot piece links to each other with body through fastener.
The present invention folding through horizontally rotating of four hold-down arms with the folding double folding structure of the vertical rotation of six hold-down arms, reduced the physical dimension of aircraft, be convenient to deposit, actv. has solved the multiaxis multi-rotor aerocraft and has been not easy to the problem of carrying and transporting.
Description of drawings
Fig. 1 is the structure birds-eye view of folding six multi-rotor aerocrafts of the present invention.
Fig. 2 is the structure upward view of folding six multi-rotor aerocrafts of the present invention.
Fig. 3 is the hand of rotation scheme drawing of the pivotal support arm of folding six multi-rotor aerocrafts of the present invention.
Fig. 4 is the postrotational scheme drawing of the pivotal support arm of folding six multi-rotor aerocrafts of the present invention.
Fig. 5 is the scheme drawing after the hold-down arm of folding six multi-rotor aerocrafts of the present invention folds.
Fig. 6 is the buckle of first fastener of the present invention and the structural representation of rotation buckle.
Fig. 7 is the structural representation of first fastener of the present invention.
Fig. 8 is the structural representation of second fastener of the present invention.
Fig. 9 is the structural representation of hold-down arm of the present invention.
Figure 10 is the structural representation after hold-down arm of the present invention folds.
Figure 11 is the structural representation after hold-down arm of the present invention and the revotating card buckle.
Among the figure: 1, body, 2, the motor mounting cup, 3, the fixing branch brace, 4, pivotal support arm, 5, rotor; 6, buckle, 7, the rotation buckle, 8, second fastener, 9, first fastener, 10, bearing pin; 11, back-up ring, 12, first bar, 13, foot piece, 14, anchor shaft, 15, turn trough; 16, first fixed orifice, 17, bayonet socket, 18, fixed card slot, 19, second fixed orifice.
The specific embodiment
Elaborate below in conjunction with the accompanying drawing specific embodiments of the invention.
By Fig. 1 to 5, shown in 9 to 11; A kind of folding six multi-rotor aerocrafts of the present invention; Comprise body 1, motor, six groups of motor mounting cups 2, rotor 5 and six hold-down arms; The motor mounting cup is equipped with motor for 2 li, and rotor 5 is placed on the outside of motor mounting cup and links to each other with motor, and body 1 links to each other with motor mounting cup 2 through hold-down arm; Flight control system, sensor, battery and fuel-feed system are equipped with in body 1 inside; It is characterized in that said six hold-down arms comprise two fixing branch braces 3 and four pivotal support arms 4, an end of said fixing branch brace 3 is fixed on a side of body 1 through fastener; One end of said pivotal support arm 3 links to each other with a side of body 1 through fastener, and pivotal support arm 4 is that starting point rotates to 60 ° from 0 ° around the fastener anchor shaft in the plane that body belongs to the fixing branch brace 3 of homonymy; Two fixing branch braces 3 and four pivotal support arms 4 are contained in body 1 both sides respectively, and the every side of body all is equipped with two pivotal support arms 4 and a fixing branch brace 3, and fixing branch brace 3 is between two pivotal support arms 4 of homonymy with it; Said two fixing branch braces 4 are on same straight line; Said fixing branch brace 3 includes first bar 12 and foot piece 13 with pivotal support arm 4, and an end of first bar 12 is rotatedly connected through the end of bearing pin 10 with foot piece 13, and fixing with foot piece 13 through back-up ring 11; Said first bar 12 other ends link to each other with motor mounting cup 2, and the other end of said foot piece 13 links to each other with body 1 through fastener.
By Fig. 1, shown in 2, said pivotal support arm (4) differs 60 ° between every adjacent two hold-down arms after launching fully in the horizontal direction.
Said fixing branch brace 3 and pivotal support arm 4 middle all hollows, the inside run through is equipped with connection lead or fuel feed pipe.
The cross section of said fixing branch brace 3 and pivotal support arm 4 is circle, triangle, quadrangle, pentagon or hexagon.
By shown in Fig. 2 to 4, said fastener comprises two first fasteners 9 and one second fastener 8, and said two first fasteners 9 are contained in the both sides of second fastener 8 respectively.
By Fig. 6, shown in 7, said first fastener 9 comprises two buckles 6, two rotation buckles 7 and anchor shaft 14, and the two ends of buckle 6 have turn trough 15; Be provided with boss in the middle of the buckle, have groove on the boss, two buckles 6 link to each other; Groove is corresponding, forms first fixed orifice 16; Rotation buckle 7 links to each other with buckle 6 through the anchor shaft 14 that is contained on the turn trough 15.
By shown in Figure 8, be provided with second fixed orifice 18 in the middle of said second fastener 8, two ends are provided with four bayonet sockets 17, and bayonet socket is provided with fixed card slot 18; The angle of the axis of two fixed card slots 18 of every section is 60 °.
By shown in Fig. 2 to 4, the axis of second fixed orifice 19 of the axis of first fixed orifice 16 of said first fastener 9 and second fastener 8 is on same straight line.
By shown in Fig. 1 to 5; The foot piece 13 of said fixing branch brace 3 is fixed on the body 1 through first fixed orifice 16 on first fastener 9 and second fixed orifice 19 on second fastener 8, and the foot piece 13 of said pivotal support arm 4 is contained on the body 1 through the fixed card slot 18 on the rotation buckle 7 on first fastener 9 and second fastener 8; Anchor shaft 14 rotations of said pivotal support arm 4 on first fastener 9.
Said first bar rotates around bearing pin in the vertical surface on plane, body place, and slewing area is more than or equal to 0 ° and is less than or equal to 180 °.
Concrete connection mode of the present invention is following: first fastener 9, second fastener 8 are connected with body 1 through screw to be fixed like Fig. 2; Rotation buckle 7 one ends are the cylinder hollow structure, socket-connect with pivotal support arm 4, like Figure 11; In the turn trough 15 of two buckles 6, two buckles 6 were fixing through the screw connection up and down about be inserted in respectively at anchor shaft 14 two ends of first fastener 9, and like Fig. 6,7, like this, pivotal support arm 4 can horizontally rotate around anchor shaft 14, and fixing branch brace 3 can not be rotated; Pushing hard pivotal support arm 4 can make its bayonet socket 17 through second fastener 8 be fixed in the fixed card slot 18; The diameter of fixed card slot 18 is consistent with the hold-down arm caliber size, and the tension force that adds upper latch notch 17 can guarantee that it is stable, firmly, fixing branch brace 3 through screw retention in second fixed orifice 19 of first fixed orifice 16 of first fastener 9 and second fastener 8; Referring to Fig. 3; It cannot parallel motion, and like this, six groups of hold-down arms launch as shown in Figure 3; 60 ° of six groups of mutual angles of hold-down arm, but be not limited to this angle.
As shown in Figure 9, bar 12 and 13 two sections bars of foot piece headed by six groups of hold-down arms divide, the foot piece 13 of pivotal support arm and fixing branch brace are fixed on the body 1 through buckle 6 and rotation buckle 7 respectively; Two sections bars are connected fixing with back-up ring 11 through pin-and-hole, bearing pin 10; Disassemble back-up ring 11 and bearing pin 10, first bar 12 can be the vertical surface rotation of S. A. along main body 1 by bearing pin 10, and is shown in figure 10.Therefore, these six multi-rotor aerocrafts have realized horizontally rotating the folding twofold function that folds with vertical rotation, and as shown in Figure 5, it is simple in structure, has effectively saved the volume of aircraft, and is easy to carry and transport.
The present invention folding through horizontally rotating of four hold-down arms with the folding double folding structure of the vertical rotation of six hold-down arms, reduced the physical dimension of aircraft, be convenient to deposit, actv. has solved the multiaxis multi-rotor aerocraft and has been not easy to the problem of carrying and transporting.
Claims (10)
1. folding six multi-rotor aerocrafts; Comprise body (1), motor, six groups of motor mounting cups (2), rotor (5) and six hold-down arms; Motor is equipped with in motor mounting cup (2) lining; Rotor (5) is placed on the outside of motor mounting cup and links to each other with motor; Body (1) links to each other with motor mounting cup (2) through hold-down arm, and flight control system, sensor, battery and fuel-feed system are equipped with in body (1) inside, it is characterized in that; Said six hold-down arms comprise two fixing branch braces (3) and four pivotal support arms (4); One end of said fixing branch brace (3) is fixed on a side of body (1) through fastener, and an end of said pivotal support arm (4) links to each other with a side of body (1) through fastener, and pivotal support arm (4) is that starting point rotates to 60 ° from 0 ° around the fastener anchor shaft in the plane that body belongs to the fixing branch brace (3) of homonymy; Two fixing branch braces (3) and four pivotal support arms (4) are contained in body (1) both sides respectively; The every side of body all is equipped with two pivotal support arms (4) and a fixing branch brace (3), and fixing branch brace (3) is positioned between two pivotal support arms (4) of homonymy with it; Said two fixing branch braces (3) are on same straight line; Said fixing branch brace (3) and pivotal support arm (4) include first bar (12) and foot piece (13); One end of first bar (12) is rotatedly connected through the end of bearing pin (10) with foot piece (13), and fixing through back-up ring (11) and foot piece (13); Said first bar (12) other end links to each other with motor mounting cup (2), and the other end of said foot piece (13) links to each other with body (1) through fastener.
2. a kind of folding six multi-rotor aerocrafts according to claim 1 is characterized in that, said pivotal support arm (4) differs 60 ° between every adjacent two hold-down arms after launching fully in the horizontal direction.
3. a kind of folding six multi-rotor aerocrafts according to claim 1 is characterized in that, equal hollow in the middle of said fixing branch brace (3) and the pivotal support arm (4), and the inside is run through connection lead or fuel feed pipe is housed.
4. a kind of folding six multi-rotor aerocrafts according to claim 1 is characterized in that the cross section of said fixing branch brace (3) and pivotal support arm (4) is circle, triangle, quadrangle, pentagon or hexagon.
5. a kind of folding six multi-rotor aerocrafts according to claim 1; It is characterized in that; Said fastener comprises two first fasteners (9) and one second fastener (8), and said two first fasteners (9) are contained in the both sides of second fastener (8) respectively.
6. a kind of folding six multi-rotor aerocrafts according to claim 5 is characterized in that, said first fastener (9) comprises two buckles (6), two rotations buckle (7) and anchor shafts (14); The two ends of buckle (6) have turn trough (15); Be provided with boss in the middle of the buckle, have groove on the boss, two buckles (6) link to each other; Groove is corresponding, forms first fixed orifice (16); Rotation buckle (7) links to each other with buckle (6) through the anchor shaft (14) that is contained on the turn trough (15).
7. a kind of folding six multi-rotor aerocrafts according to claim 5 is characterized in that, are provided with second fixed orifice (19) in the middle of said second fastener (8), and two ends are provided with four bayonet sockets (17), and bayonet socket is provided with fixed card slot (18); The angle of the axis of two fixed card slots (18) of every section is 60 °.
8. according to claim 5 or 6 or 7 described a kind of folding six multi-rotor aerocrafts, it is characterized in that the axis of the axis of first fixed orifice (16) of said first fastener (9) and second fixed orifice (19) of second fastener (8) is on same straight line.
9. according to claim 1 or 6 or 7 described a kind of folding six multi-rotor aerocrafts; It is characterized in that; The foot piece (13) of said fixing branch brace (3) is fixed on the body (1) through first fixed orifice (16) on first fastener (9) and second fixed orifice (19) on second fastener (8), and the foot piece (13) of said pivotal support arm (4) is contained on the body (1) through rotation buckle (7) on first fastener (9) and the fixed card slot (18) on second fastener (8); Anchor shaft (14) rotation of said pivotal support arm (4) on first fastener (9).
10. a kind of folding six multi-rotor aerocrafts according to claim 1 is characterized in that, said first bar rotates around bearing pin in the vertical surface on plane, body place, and slewing area is more than or equal to 0 ° and is less than or equal to 180 °.
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| CN2010105296314A CN101992854B (en) | 2010-11-03 | 2010-11-03 | Foldable six-axis multi-rotor aircraft |
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| CN2010105296314A CN101992854B (en) | 2010-11-03 | 2010-11-03 | Foldable six-axis multi-rotor aircraft |
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| CN101992854A CN101992854A (en) | 2011-03-30 |
| CN101992854B true CN101992854B (en) | 2012-11-07 |
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| US9884681B2 (en) | 2013-01-10 | 2018-02-06 | SZ DJI Technology Co., Ltd. | Aerial vehicle with frame assemblies |
| US10046844B2 (en) | 2013-01-10 | 2018-08-14 | SZ DJI Technology Co., Ltd. | Aerial vehicle with frame assemblies |
| US9242729B1 (en) | 2013-01-10 | 2016-01-26 | SZ DJI Technology Co., Ltd | Transformable aerial vehicle |
| US10227131B2 (en) | 2014-06-26 | 2019-03-12 | SZ DJI Technology Co., Ltd. | Aerial vehicle and a signal line protection assembly thereof |
| WO2016138604A1 (en) * | 2015-03-04 | 2016-09-09 | 珠海羽人飞行器有限公司 | Agricultural aircraft |
| US9914537B2 (en) | 2015-06-01 | 2018-03-13 | SZ DJI Technology Co., Ltd | Systems and methods for foldable arms |
| US10202191B2 (en) | 2015-06-01 | 2019-02-12 | SZ DJI Technology Co., Ltd. | Systems and methods for foldable arms |
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|---|---|
| CN101992854A (en) | 2011-03-30 |
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