CN101992854B - Foldable six-axis multi-rotor aircraft - Google Patents

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

A foldable six-axis multi-rotor aircraft

technical field

The invention relates to the field of aviation aircraft, in particular to a foldable six-axis multi-rotor aircraft.

Background technique

Rotor-type aircraft with vertical take-off and landing and hovering functions not only play an important role in the military field, but also show great application potential in disaster scene rescue, dangerous environment detection, traffic surveillance or aerial photography, and have attracted widespread attention.

At present, rotorcraft mainly include single-rotor (main rotor + tail rotor) helicopters, dual-rotor (coaxial inversion and non-coaxial inversion) helicopters, and multi-rotor aircraft. For example, the MH- 16 helicopters, Russia's Ka-29 helicopter, Germany's Microdrone company, Canada's Dranganflyer company's quadrotor aircraft, etc. The single-rotor helicopter generates lift, side force and required moment through the main rotor, and overcomes the anti-torque torque of the main rotor through the tail rotor. The twin-rotor helicopter generates lift, side force and required moment through two rotors that are reversed on the same axis (or non-coaxial). The quadrotor aircraft eliminates the torsion force generated on the body through two pairs of rotors that rotate in opposite directions, and simultaneously generates lift, side force and required torque. The common problem of the above-mentioned rotorcraft is that it is a kinematic coupling system itself, the direction and attitude in flight are coupled, the flexibility and stability are poor, and the lift and weight of the aircraft are relatively low, so it is designed as a small aircraft Time carrying capacity is limited. The six-axis multi-rotor aircraft with non-coplanar rotor rotation planes can change the direction of motion while maintaining the same attitude in the air, and can also perform attitude adjustment while maintaining the same direction of motion. The change of posture realizes the complete decoupling of motion and posture. Since the support arm and the main body are fixed as one, the six-axis multi-rotor aircraft has a large geometric size, which is not easy to carry and transport. Therefore, it is imperative to develop a foldable six-axis multi-rotor aircraft.

Contents of the invention

In view of the above content, in order to solve the defects of the prior art, the object of the present invention is to provide a foldable six-axis multi-rotor aircraft, which can effectively solve the problem that the current six-axis multi-rotor aircraft has a large geometric size and is not easy to carry and transport. question.

The technical solution of the present invention to solve the technical problem is that a foldable six-axis multi-rotor aircraft includes a body, a motor, six sets of motor mounting covers, rotors and six support arms, a motor is housed in the motor mounting cover, and the rotor is placed on The outside of the motor installation cover is connected with the motor, and the body is connected with the motor installation cover through the support arm. The aircraft control system, sensors, batteries and fuel supply system are installed inside the body. The six support arms include two fixed support arms and Four rotating support arms, one end of the fixed support arm is fixed on one side of the body through a fastener, one end of the rotating support arm is connected with one side of the body through a fastener, and the rotating support arm is fixed around the fastener The axis rotates from 0° to 60° in the plane of the body with the fixed support arm on the same side as the starting point; two fixed support arms and four rotating support arms are respectively installed on both sides of the body, and each side of the body is equipped with two A rotating support arm and a fixed support arm, the fixed support arm is located between the two rotating support arms on the same side; the two fixed support arms are on the same straight line; the fixed support arm and the rotating support arm are both It includes a head rod and a tail rod. One end of the head rod is connected to one end of the tail rod through a pin shaft, and is fixed to the tail rod through a retaining ring; the other end of the head rod is connected to the motor mounting cover, and the tail rod The other end is connected with the body through a fastener.

The present invention reduces the geometric size of the aircraft through the double-folding structure of the horizontal rotation and folding of the four support arms and the vertical rotation and folding of the six support arms, which is convenient for storage and effectively solves the problem that the multi-axis multi-rotor aircraft is not easy to carry. transport problem.

Description of drawings

Fig. 1 is a structural top view of the foldable six-axis multi-rotor aircraft of the present invention.

Fig. 2 is a structural bottom view of the foldable six-axis multi-rotor aircraft of the present invention.

Fig. 3 is a schematic diagram of the rotation direction of the rotating support arm of the foldable six-axis multi-rotor aircraft of the present invention.

Fig. 4 is a schematic diagram of the rotating support arm of the foldable six-axis multi-rotor aircraft of the present invention after rotation.

Fig. 5 is a schematic view of the folded support arms of the foldable six-axis multi-rotor aircraft of the present invention.

Fig. 6 is a structural schematic diagram of the buckle plate and the rotary buckle of the first fastener of the present invention.

Fig. 7 is a schematic structural view of the first fastener of the present invention.

Fig. 8 is a schematic structural view of the second fastener of the present invention.

Fig. 9 is a structural schematic diagram of the support arm of the present invention.

Fig. 10 is a structural schematic view of the folded support arm of the present invention.

Fig. 11 is a schematic diagram of the structure of the support arm of the present invention after it is connected to the rotating buckle.

In the figure: 1. Body, 2. Motor installation cover, 3. Fixed support arm, 4. Rotating support arm, 5. Rotor, 6. Buckle plate, 7. Rotating buckle, 8. Second fastener, 9. The first One fastener, 10, pin shaft, 11, retaining ring, 12, first rod, 13, tail rod, 14, fixed shaft, 15, turning groove, 16, first fixed hole, 17, bayonet socket, 18, fixed card Groove, 19, the second fixing hole.

Detailed ways

The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in Figures 1 to 5, 9 to 11, a foldable six-axis multi-rotor aircraft of the present invention includes a body 1, a motor, six sets of motor mounting covers 2, rotors 5 and six support arms, and the motor mounting cover 2 is equipped with a motor, and the rotor 5 is placed outside the motor installation cover and connected to the motor. The body 1 is connected to the motor installation cover 2 through a support arm. The aircraft control system, sensors, batteries and fuel supply systems are housed inside the body 1. The feature is that the six support arms include two fixed support arms 3 and four rotating support arms 4, one end of the fixed support arm 3 is fixed on one side of the body 1 by a fastener, and the rotating support arm One end of the arm 3 is connected to one side of the body 1 through a fastener, and the rotating support arm 4 rotates from 0° to 60° in the plane where the body is located around the fixed axis of the fastener with the fixed support arm 3 on the same side as the starting point; A fixed support arm 3 and four rotating support arms 4 are installed on both sides of the body 1 respectively, two rotating support arms 4 and a fixed support arm 3 are installed on each side of the body, and the fixed support arm 3 is located on the two sides of the same side. Between two rotating support arms 4; said two fixed support arms 4 are on the same straight line; said fixed support arms 3 and rotating support arms 4 all include a head rod 12 and a tail rod 13, and one end of the head rod 12 passes through Pin shaft 10 is rotationally connected with one end of tail rod 13, and is fixed with tail rod 13 by retaining ring 11; the other end of said first rod 12 is connected with motor mounting cover 2, and the other end of said tail rod 13 is passed through a fastener Connected to body 1.

As shown in Figures 1 and 2, after the said rotating support arm (4) is fully expanded in the horizontal direction, the difference between each adjacent two support arms is 60°.

Said fixed support arm 3 and rotating support arm 4 are all hollow in the middle, and connecting wires or oil supply pipes run through the inside.

The sections of the fixed support arm 3 and the rotating support arm 4 are circular, triangular, quadrangular, pentagonal or hexagonal.

As shown in Figures 2 to 4, the fasteners include two first fasteners 9 and a second fastener 8, and the two first fasteners 9 are mounted on both sides of the second fastener 8 respectively. .

As shown in Figures 6 and 7, said first fastener 9 includes two buckles 6, two rotating buckles 7 and a fixed shaft 14, two ends of the buckle 6 are provided with turning grooves 15, and the middle of the buckle is provided with There is a boss, and there is a groove on the boss, and the two buckle plates 6 are connected, and the grooves correspond to form the first fixing hole 16; connected.

As shown in Figure 8, a second fixing hole 18 is provided in the middle of the said second fastener 8, and four bayonet sockets 17 are provided at both ends, and the bayonet sockets are provided with fixed bayonet grooves 18; The included angle of the axes of the grooves 18 is 60°.

As shown in FIGS. 2 to 4 , the axis of the first fixing hole 16 of the first fastener 9 and the axis of the second fixing hole 19 of the second fastener 8 are on the same straight line.

As shown in Figures 1 to 5, the tail rod 13 of the fixed support arm 3 is fixed on the body 1 through the first fixing hole 16 on the first fastener 9 and the second fixing hole 19 on the second fastener 8 , the tail rod 13 of the said rotating support arm 4 is mounted on the body 1 through the rotating buckle 7 on the first fastener 9 and the fixing slot 18 on the second fastener 8; The fixed shaft 14 on the first fastener 9 rotates.

Said first rod rotates around the pin axis in the vertical plane of the plane where the body is located, and the rotation range is greater than or equal to 0° and less than or equal to 180°.

The specific connection method of the present invention is as follows: the first fastener 9 and the second fastener 8 are connected and fixed with the body 1 by screws as shown in Figure 2; Figure 11: The two ends of the fixed shaft 14 of the first fastener 9 are respectively inserted into the turning grooves 15 of the upper and lower two buckle plates 6, and the upper and lower two buckle plates 6 are connected and fixed by screws, as shown in Figures 6 and 7. In this way, the rotation support The arm 4 can rotate horizontally around the fixed shaft 14, and the fixed support arm 3 cannot rotate; pushing the rotating support arm 4 hard can make it be fixed in the fixed slot 18 through the bayonet 17 of the second fastener 8, and the fixed slot 18 The diameter of the support arm is consistent with the diameter of the support arm, and the tension of the bayonet 17 can ensure its stability and firmness. The fixed support arm 3 is fixed on the first fixing hole 16 of the first fastener 9 and the second fastener 8 by screws. In the second fixing hole 19, referring to Fig. 3, it can not move horizontally, like this, six groups of support arms are expanded as shown in Fig. 3, and the angle between six groups of support arms is 60 °, but not limited to this angle.

As shown in Figure 9, the six groups of support arms are divided into two sections of the first rod 12 and the tail rod 13, and the tail rods 13 of the rotating support arm and the fixed support arm are respectively fixed on the body 1 through the pinch plate 6 and the rotating buckle 7; The section rod is connected and fixed through the pin hole, the pin shaft 10 and the retaining ring 11; the retaining ring 11 and the pin shaft 10 are removed, and the first rod 12 can rotate along the vertical plane of the main body 1 with the pin shaft 10 as the rotation axis, as shown in Figure 10 . Therefore, the six-axis multi-rotor aircraft realizes the double folding function of horizontal rotation folding and vertical rotation folding, as shown in Fig. 5, its structure is simple, the volume of the aircraft is effectively saved, and it is easy to carry and transport.

The present invention reduces the geometric size of the aircraft through the double-folding structure of the horizontal rotation and folding of the four support arms and the vertical rotation and folding of the six support arms, which is convenient for storage and effectively solves the problem that the multi-axis multi-rotor aircraft is not easy to carry. transport problem.

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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