CN106542088B - Unmanned aerial vehicle rotor wing retraction control mechanism and unmanned aerial vehicle rotor wing retraction system - Google Patents
Unmanned aerial vehicle rotor wing retraction control mechanism and unmanned aerial vehicle rotor wing retraction system Download PDFInfo
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- CN106542088B CN106542088B CN201611121054.9A CN201611121054A CN106542088B CN 106542088 B CN106542088 B CN 106542088B CN 201611121054 A CN201611121054 A CN 201611121054A CN 106542088 B CN106542088 B CN 106542088B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 48
- 239000000725 suspension Substances 0.000 claims description 8
- 230000009471 action Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 6
- 230000000903 blocking effect Effects 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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Abstract
The invention discloses an unmanned aerial vehicle rotor wing retraction control mechanism and an unmanned aerial vehicle rotor wing retraction system, wherein the unmanned aerial vehicle rotor wing retraction control mechanism comprises a steering engine, a linkage rotating arm, a first connecting rod and a second connecting rod; the steering engine is provided with a rotary output shaft, the linkage rotating arm is provided with a first support arm and a second support arm which are fixedly connected, the joint of the first support arm and the second support arm is provided with a rotation center, the rotary output shaft is fixedly connected on the rotation center, the outer ends of the first support arm and the second support arm are respectively provided with a first hinging part and a second hinging part, the first ends of the first connecting rod and the second connecting rod are respectively hinged with the first hinging part and the second hinging part, and the second ends of the first connecting rod and the second connecting rod are respectively provided with a third hinging part and a fourth hinging part. The invention has simple structure, even stress and smooth action, and reduces the blocking resistance in the retraction process.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle rotor wing retraction control mechanism and an unmanned aerial vehicle rotor wing retraction system.
Background
The utility model provides a fixed wing unmanned aerial vehicle's of taking off and land perpendicularly that energy efficiency is higher has appeared at present, control the rotor through rotor receive and releases control mechanism and expand and pack up, the rotor is rotatory in the both sides of fixed wing fuselage when expanding, because these rotors are last to be exclusively used in the low-speed, can carry out optimal design strictly according to the requirement of low-speed power, when the aircraft got into fixed wing flight condition, this many rotors receive and releases control mechanism and will rotate the wing and receive inside the fuselage, reduce the air resistance of fixed wing flight in-process, the energy efficiency of fixed wing aircraft in-process has been improved, but this many rotors receive and release control mechanism has following shortcoming:
the structure is complicated, the part is too many to turn into the linear motion in-process of slider with the rotation of steering wheel pivot, when starting to receive and release the motion, consider the existence of stiction, and both sides atress unbalance, the card hinders easily to take place, and bolt and steering wheel connecting rod rub for a long time in the spout of slider, also damage easily, lead to part life not long.
Disclosure of Invention
The invention aims at providing an unmanned aerial vehicle rotor wing retraction control mechanism and an unmanned aerial vehicle rotor wing retraction system.
The technical scheme is as follows:
The unmanned aerial vehicle rotor wing retraction control mechanism comprises a steering engine, a linkage rotating arm, a first connecting rod and a second connecting rod; the steering engine is provided with a rotary output shaft, the linkage rotating arm is provided with a first support arm and a second support arm which are fixedly connected, the joint of the first support arm and the second support arm is provided with a rotation center, the rotary output shaft is fixedly connected on the rotation center, the outer ends of the first support arm and the second support arm are respectively provided with a first hinging part and a second hinging part, the first ends of the first connecting rod and the second connecting rod are respectively hinged with the first hinging part and the second hinging part, and the second ends of the first connecting rod and the second connecting rod are respectively provided with a third hinging part and a fourth hinging part.
The unmanned aerial vehicle rotor wing retraction system comprises a suspension wing supporting mechanism and a retraction control mechanism, wherein the suspension wing supporting mechanism comprises a first cantilever and a second cantilever, the middle sections of the first cantilever and the second cantilever are provided with hinging centers, the first cantilever and the second cantilever are movably hinged through the hinging centers and form an X shape, the first cantilever and the second cantilever are provided with a first force application part and a second force application part, and the first force application part and the second force application part deviate from the hinging centers; the retraction control mechanism comprises a steering engine, a linkage rotating arm, a first connecting rod and a second connecting rod; the steering engine is provided with a rotary output shaft, the linkage rotating arm is provided with a first support arm and a second support arm which are fixedly connected, the joint of the first support arm and the second support arm is provided with a rotation center, the rotary output shaft is fixedly connected on the rotation center, the outer ends of the first support arm and the second support arm are respectively provided with a first hinging part and a second hinging part, the first ends of the first connecting rod and the second connecting rod are respectively hinged with the first hinging part and the second hinging part, and the second ends of the first connecting rod and the second connecting rod are respectively provided with a third hinging part and a fourth hinging part; the third hinge part and the fourth hinge part are movably hinged with the first force application part and the second force application part respectively.
Further, the first hinge part and the second hinge part have equal lengths with respect to the rotation center.
Further, a V-shape is formed between the first support arm and the second support arm.
Further, the angle between the first support arm and the second support arm is 30 degrees to 150 degrees.
Further, a plane perpendicular to the rotation output shaft is a rotation plane, the first hinge part is located on the first rotation plane, and the second hinge part is located on the second rotation plane.
Further, a plane perpendicular to the rotary output shaft is a rotary plane, the first hinge part and the second hinge part are located on the first rotary plane, and the first force application part and the second force application part are located on the second rotary plane.
Further, the two ends of the first cantilever and the second cantilever are respectively provided with a rotor wing installation position.
Further, when the first support arm and the second support arm are closest to the hinge center, the first support arm is located in the extending line direction of the first connecting rod relative to the first hinge part, and an angle between the first support arm and the extending line of the first connecting rod is smaller than 5 degrees; the second support arm is positioned in the direction of an extension line of the second connecting rod relative to the second hinge part, and the angle between the second support arm and the extension line of the second connecting rod is smaller than 5 degrees; when the first support arm and the second support arm are most far away from the hinging center, the first support arm is positioned in the same direction of the first connecting rod relative to the first hinging part, and the angle between the first support arm and the extension line of the first connecting rod is smaller than 5 degrees; the second support arm is positioned in the same direction of the second connecting rod relative to the second hinge part, and the angle between the second support arm and the extension line of the second connecting rod is smaller than 5 degrees.
Further, when the first support arm and the second support arm are closest to the hinging center, the first connecting rod and the second connecting rod are inclined; when the first support arm and the second support arm deviate from the hinging center, the first connecting rod and the second connecting rod incline and are crossed.
Further, the first cantilever and the second cantilever both comprise a cantilever main body and a pulling arm, and the pulling arm is arranged at the outer side of the cantilever main body and extends out relative to the outer side of the cantilever main body.
It should be noted that:
The foregoing "first and second." does not represent a specific number or order, and is used merely for distinguishing between names.
The advantages and principles of the invention are described below:
1. The folding and unfolding control mechanism is provided with a steering engine, a linkage rotating arm, a first connecting rod and a second connecting rod, wherein a first support arm and a second support arm of the linkage rotating arm synchronously rotate under the action of the steering engine to respectively drive the first connecting rod and the second connecting rod to move, and then the first and second cantilevers of the cantilever supporting mechanism are respectively controlled to be unfolded and folded by the first and second connecting rods. The retraction control mechanism converts the rotation motion of the steering engine into translation motion, and the first support arm, the first connecting rod and the first cantilever act in sequence, so that the retraction control mechanism is simple in structure and flexible; meanwhile, due to the adoption of the linkage rotating arm, the acting force of the steering engine acts on the first cantilever and the second cantilever respectively in two ways, so that the first cantilever and the second cantilever are controlled simultaneously, the stress of the first cantilever and the second cantilever is balanced, the action is synchronous, and the blocking is not easy to occur.
2. The first cantilever and the second cantilever are movably hinged through a hinge center and form an X shape, the first cantilever and the second cantilever which are crossed in the X shape are respectively connected with a first connecting rod and a second connecting rod of the retraction control mechanism, when a rotating output shaft of a steering engine rotates, the first support arm and the second support arm synchronously rotate, the first support arm and the second support arm act on the first cantilever and the second cantilever through the first connecting rod and the second connecting rod respectively, when the first support arm and the second support arm are closest to the hinge center, the first support arm and the second support arm prop open the first cantilever and the second cantilever through the first connecting rod and the second connecting rod, when the first support arm and the second support arm deviate from the hinge center, the first support arm and the second support arm pull the first cantilever and the second cantilever together through the first connecting rod and the second connecting rod, and the cantilever support mechanism is in a retraction state.
3. The lengths of the first hinge part and the second hinge part relative to the rotation center are equal, and a V shape is formed between the first support arm and the second support arm. Therefore, the positions of the first hinge part and the second hinge part of the first support arm and the second support arm deviate from a certain position, and the first cantilever and the second cantilever can be guaranteed to have the same angular displacement in the maximum opening state and the maximum closing state. Preferably, the angle between the first arm and the second arm is between 30 degrees and 150 degrees, which is the best effect.
4. The first hinge part is located in a first rotation plane, the second hinge part is located in a second rotation plane, planes of the first hinge part and the second hinge part are staggered, and interference between the first connecting rod and the second connecting rod can be avoided in the process of rotating the linkage rotating arm.
Similarly, the first hinge part and the second hinge part are positioned on a first rotation plane, and the first force application part and the second force application part are positioned on a second rotation plane. The first connecting rod and the second connecting rod can be reduced from interfering with each other.
5. When the suspension wing supporting mechanism is in a folding state, the first support arm is basically positioned in the extending line direction of the first connecting rod, and the angle of the first support arm and the first support arm is smaller than 5 degrees; the second support arm is basically positioned in the direction of an extension line of the second connecting rod, and the angle of the second support arm and the second support arm is smaller than 5 degrees; when the suspension wing supporting mechanism is in a folding state, the first support arm is basically overlapped with the first connecting rod; the second arm is substantially coincident with the second link. For the cantilever support mechanism, two common states are a folding state and an opening state, at this time, the stability and reliability of the mechanism are ensured as much as possible, and the structure can ensure that: in the open state or the closed state, when the first cantilever and/or the second cantilever are/is subjected to lateral force, the rotary output shaft only receives tensile force or compressive force acted by the linkage rotating arm, and torque for rotating the rotary output shaft is not generated, so that the rotary output shaft is a double dead point mechanism.
6. When the first support arm and the second support arm are closest to the hinging center, the first connecting rod and the second connecting rod are inclined; when the first support arm and the second support arm deviate from the hinging center, the first connecting rod and the second connecting rod incline and are crossed. Because the first rotating plane and the second rotating plane are staggered, interference is effectively avoided when the linkage rotating arm rotates, and blocking resistance is reduced; on the other hand, the first and second cantilevers are inclined and crossed, so that when the first and second cantilevers are opened or closed, the first and second cantilevers rotate at different rotation angles, and interference caused by the first and second cantilevers at the same position is avoided.
7. The first cantilever and the second cantilever comprise a cantilever main body and a pulling arm, and the pulling arm is arranged at the outer side of the cantilever main body and extends out relative to the outer side of the cantilever main body; the first cantilever, the second cantilever, the first connecting rod, the second connecting rod, the first support arm, the second support arm and the like can be more flexibly laid out in terms of geometric layout due to the arrangement of the pull arms; on the other hand, when the first cantilever and the second cantilever are in a folding state, the included angle between the first cantilever and the second cantilever is minimum, at this time, most of force applied to the first cantilever and the second cantilever by the first connecting rod and the second connecting rod acts on the hinge center and is consumed, so that the action accuracy and speed during opening or folding are reduced, after the pull arm stretching outwards is arranged, when the first cantilever and the second cantilever are in the folding state (or are close to the folding state), the force applied to the first cantilever and the second cantilever by the first connecting rod and the second connecting rod can be decomposed in different directions, and the pulling force or the pressure required during opening or folding of the first cantilever and the second cantilever are reduced, so that the opening and the folding of the first cantilever and the second cantilever are facilitated.
Drawings
Fig. 1 is a block diagram of a rotor retraction system of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a disassembled view of a rotor retraction system of the unmanned aerial vehicle according to an embodiment of the present invention;
Fig. 3 is a partial enlarged view of a rotor retraction system of the unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 4 is a block diagram of a retraction control mechanism according to an embodiment of the present invention;
fig. 5 is a schematic view of the rotor retraction system of the unmanned aerial vehicle in an open state according to an embodiment of the present invention;
Fig. 6 is a schematic view of the rotor retraction system of the unmanned aerial vehicle in a first retracted state according to an embodiment of the present invention;
Fig. 7 is a schematic view of the rotor retraction system of the unmanned aerial vehicle in a second retracted state according to an embodiment of the present invention;
fig. 8 is a schematic view of the rotor retraction system of the unmanned aerial vehicle in a fully retracted state according to an embodiment of the present invention;
reference numerals illustrate:
10. Steering engine, 11, rotation output shaft, 20, linkage rocking arm, 21, first support arm, 211, first articulated portion, 22, second support arm, 221, second articulated portion, 31, first connecting rod, 311, third articulated portion, 32, second connecting rod, 321, fourth articulated portion, 41, first cantilever, 42, second cantilever, 43, articulated center, 44, rotor mounting position 45, cantilever main part, 46, arm, 47, rotor.
Detailed Description
The following describes embodiments of the present invention in detail.
As shown in fig. 1 to 8, the unmanned aerial vehicle rotor wing retraction system comprises a wing suspension supporting mechanism and a retraction control mechanism, wherein the wing suspension supporting mechanism comprises a first cantilever 41 and a second cantilever 42, the middle sections of the first cantilever 41 and the second cantilever 42 are provided with a hinge center 43, the first cantilever 41 and the second cantilever 42 are movably hinged through the hinge center 43 to form an 'X' -shape, the first cantilever 41 and the second cantilever 42 are provided with a first force application part and a second force application part, and the first force application part and the second force application part deviate from the hinge center 43; the retraction control mechanism comprises a steering engine 10, a linkage rotating arm 20, a first connecting rod 31 and a second connecting rod 32; the steering engine 10 is provided with a rotary output shaft 11, the linkage rotating arm 20 is provided with a first support arm 21 and a second support arm 22 which are fixedly connected, the joint of the first support arm 21 and the second support arm 22 is provided with a rotation center, the rotary output shaft 11 is fixedly connected on the rotation center, the outer ends of the first support arm 21 and the second support arm 22 are respectively provided with a first hinging part 211 and a second hinging part 221, the first ends of the first connecting rod 31 and the second connecting rod 32 are respectively hinged with the first hinging part 211 and the second hinging part 221, and the second ends of the first connecting rod 31 and the second connecting rod 32 are respectively provided with a third hinging part 311 and a fourth hinging part 321; the third hinge portion 311 and the fourth hinge portion 321 are movably hinged to the first force application portion and the second force application portion, respectively.
Wherein a V-shape is formed between the first support arm 21 and the second support arm 22, an angle between the first support arm 21 and the second support arm 22 is 70 degrees, and lengths of the first hinge portion 211 and the second hinge portion 221 are equal relative to the rotation center; the plane that is straight to the rotation output shaft 11 is a rotation plane, the first hinge part 211 is located at a first rotation plane, and the second hinge part 221 is located at a second rotation plane.
The first boom 41 and the second boom 42 each include a boom body 45 and a boom 46, and the boom 46 is provided on the outer side of the boom body 45 and protrudes with respect to the outer side of the boom body 45.
When the first arm 21 and the second arm 22 are closest to the hinge center 43 (i.e. when the wing support mechanism is in the folded state), the first arm 21 coincides with the extension line of the first link 31, and the second arm 22 coincides with the extension line of the second link 32; when the first and second arms 21, 22 are most away from the hinge center 43 (i.e., when the wing support mechanism is in an open state), the first arm 21 coincides with the first link 31, and the second arm 22 coincides with the second link 32.
The first boom 41 and the second boom 42 have rotor attachment sites 44 at both ends thereof, respectively, where a rotor 47 for vertical lift is attached.
The first link 31 and the second link 32 are inclined when the first arm 21 and the second arm 22 are closest to the hinge center 43; the first link 31 and the second link 32 are inclined and cross when the first arm 21 and the second arm 22 deviate from the hinge center 43.
This embodiment has the following advantages:
1. The retraction control mechanism comprises a steering engine 10, a linkage rotating arm 20, a first connecting rod 31 and a second connecting rod 32, wherein a first support arm 21 and a second support arm 22 of the linkage rotating arm 20 synchronously rotate under the action of the steering engine 10, the first connecting rod 31 and the second connecting rod 32 are respectively driven to move, and then the first connecting rod 31 and the second connecting rod 32 respectively control a first cantilever 41 and a second cantilever 42 of the cantilever support mechanism to be deployed and retracted. The retraction control mechanism converts the rotation motion of the steering engine 10 into translation motion, and the first support arm 21, the first connecting rod 31 and the first cantilever 41 sequentially act, so that the retraction control mechanism is simple in structure and flexible; meanwhile, due to the adoption of the linkage rotating arm 20, the acting force of the steering engine 10 acts on the first cantilever 41 and the second cantilever 42 respectively in two ways, so that the first cantilever 41 and the second cantilever 42 are controlled simultaneously, the stress of the first cantilever 41 and the second cantilever 42 is balanced, the action is synchronous, and the blocking is not easy to occur.
2. The cantilever support mechanism comprises a first cantilever 41 and a second cantilever 42, wherein the first cantilever 41 and the second cantilever 42 are movably hinged through a hinge center 43 and form an X shape, the first cantilever 41 and the second cantilever 42 which are crossed in the X shape are respectively connected with a first connecting rod 31 and a second connecting rod 32 of a folding control mechanism, when a rotating output shaft 11 of a steering engine 10 rotates, the first support arm 21 and the second support arm 22 synchronously rotate, the first support arm 21 and the second support arm 22 act on the first cantilever 41 and the second cantilever 42 through the first connecting rod 31 and the second connecting rod 32 respectively, when the first support arm 21 and the second support arm 22 are closest to the hinge center 43, the first support arm 21 and the second support arm 22 prop open the first cantilever 41 and the second cantilever 42 through the first connecting rod 31 and the second connecting rod 32, and when the first support arm 21 and the second support arm 22 deviate from the hinge center 43, the first support arm 21 and the second support arm 22 pull the first cantilever 41 and the second cantilever 42 through the first connecting rod 31 and the second connecting rod 32, and the cantilever support mechanism is in a folded state.
3. The lengths of the first hinge part 211 and the second hinge part 221 relative to the rotation center are equal, and a V shape is formed between the first support arm 21 and the second support arm 22. In this way, the positions of the first hinge part 211 and the second hinge part 221 of the first support arm 21 and the second support arm 22 can deviate from each other by a certain position, and the first cantilever 41 and the second cantilever 42 can have the same angular displacement in the maximum opening state and the maximum closing state. Preferably, the angle between the first arm 21 and the second arm 22 is between 30 degrees and 150 degrees, which is most effective.
4. The first hinge portion 211 is located on a first rotation plane, the second hinge portion 221 is located on a second rotation plane, planes of the first hinge portion 211 and the second hinge portion 221 are staggered, and interference between the first connecting rod 31 and the second connecting rod 32 can be avoided in the process of rotating the linkage rotating arm 20.
Similarly, the first hinge portion 211 and the second hinge portion 221 are located on a first rotation plane, and the first force application portion and the second force application portion are located on a second rotation plane. Interference between the first link 31 and the second link 32 can be reduced.
5. When the wing-suspension supporting mechanism is in a folded state, the first support arm 21 is overlapped with the extension line of the first connecting rod 31, and the second support arm 22 is overlapped with the extension line of the second connecting rod 32; when the wing support mechanism is in the open state, the first arm 21 is overlapped with the first link 31, and the second arm 22 is overlapped with the second link 32. For the cantilever support mechanism, two common states are a folding state and an opening state, at this time, the stability and reliability of the mechanism are ensured as much as possible, and the structure can ensure that: in the open state or the closed state, when the first cantilever 41 and/or the second cantilever 42 receive a lateral force, the rotary output shaft 11 receives only a tensile force or a compressive force applied by the link arm 20, and does not generate a torque to rotate it, so that the rotary output shaft is a "double dead point mechanism".
6. The first link 31 and the second link 32 are inclined when the first arm 21 and the second arm 22 are closest to the hinge center 43; the first link 31 and the second link 32 are inclined and cross when the first arm 21 and the second arm 22 deviate from the hinge center 43. Because the first rotation plane and the second rotation plane are staggered, interference is effectively avoided when the linkage rotating arm 20 rotates, and blocking resistance is reduced; on the other hand, when the first link 31 and the second link 32 are inclined and crossed and the first arm 41 and the second arm 42 are opened or closed, the first arm 41 and the second arm 42 are rotated at different rotation angles (as shown in fig. 6), so that interference caused by the first arm 41 and the second arm 42 at the same position is avoided.
7. The first cantilever 41 and the second cantilever 42 each include a cantilever body 45 and a pull arm 46, and the pull arm 46 is disposed outside the cantilever body 45 and extends out relative to the outside of the cantilever body 45; the first cantilever 41, the second cantilever 42, the first connecting rod 31, the second connecting rod 32, the first support arm 21, the second support arm 22 and the like can be arranged more flexibly in terms of geometric arrangement due to the arrangement of the pull arm 46; on the other hand, when the first cantilever 41 and the second cantilever 42 are in the folded state, the included angle between the two is the smallest, at this time, most of the force of the first link 31 and the second link 32 acting on the first cantilever 41 and the second cantilever 42 acts on the hinge center 43 and is consumed, so that the accuracy and speed of the action when opening or folding are reduced, and after the pull arm 46 extending outwards is provided, when the first cantilever 41 and the second cantilever 42 are in the folded state (or close to the folded state), the force of the first link 31 and the second link 32 acting on the first cantilever 41 and the second cantilever 42 is decomposed in different directions, so that the pulling force or the pressure required when the first cantilever 41 and the second cantilever 42 are opened or folded is reduced, and the opening and the folding of the first cantilever 41 and the second cantilever 42 are facilitated.
The foregoing is merely exemplary embodiments of the present invention, and is not intended to limit the scope of the present invention; any substitutions and modifications made without departing from the spirit of the invention are within the scope of the invention.
Claims (8)
1. The unmanned aerial vehicle rotor wing retraction system is characterized by comprising a suspension wing supporting mechanism and a retraction control mechanism;
The cantilever wing supporting mechanism comprises a first cantilever and a second cantilever, wherein the middle sections of the first cantilever and the second cantilever are provided with hinging centers, the first cantilever and the second cantilever are movably hinged through the hinging centers and form an X shape, the first cantilever and the second cantilever are provided with a first force application part and a second force application part, and the first force application part and the second force application part deviate from the hinging centers; the retraction control mechanism comprises a steering engine, a linkage rotating arm, a first connecting rod and a second connecting rod; the steering engine is provided with a rotary output shaft, the linkage rotating arm is provided with a first support arm and a second support arm which are fixedly connected, the joint of the first support arm and the second support arm is provided with a rotation center, the rotary output shaft is fixedly connected on the rotation center, the outer ends of the first support arm and the second support arm are respectively provided with a first hinging part and a second hinging part, the first ends of the first connecting rod and the second connecting rod are respectively hinged with the first hinging part and the second hinging part, and the second ends of the first connecting rod and the second connecting rod are respectively provided with a third hinging part and a fourth hinging part; the third hinge part and the fourth hinge part are respectively movably hinged with the first force application part and the second force application part;
When the first support arm and the second support arm are closest to the hinge center, the first support arm is positioned in the extending line direction of the first connecting rod relative to the first hinge part, and the angle between the first support arm and the extending line of the first connecting rod is smaller than 5 degrees; the second support arm is positioned in the direction of an extension line of the second connecting rod relative to the second hinge part, and the angle between the second support arm and the extension line of the second connecting rod is smaller than 5 degrees;
When the first support arm and the second support arm are most far away from the hinging center, the first support arm is positioned in the same direction of the first connecting rod relative to the first hinging part, and the angle between the first support arm and the extension line of the first connecting rod is smaller than 5 degrees; the second support arm is positioned in the same direction of the second connecting rod relative to the second hinge part, and the angle between the second support arm and the extension line of the second connecting rod is smaller than 5 degrees.
2. The unmanned aerial vehicle rotor retraction system of claim 1 wherein the first hinge and the second hinge are of equal length relative to the center of rotation.
3. The unmanned aerial vehicle rotor retraction system of claim 1 wherein the first arm and the second arm form a "V" shape therebetween.
4. The unmanned aerial vehicle rotor retraction system of claim 3 wherein the angle between the first arm and the second arm is 30 degrees to 150 degrees.
5. The unmanned aerial vehicle rotor retraction system of any one of claims 1 to 4 wherein the plane perpendicular to the rotation output shaft is a plane of rotation, the first hinge being located in a first plane of rotation and the second hinge being located in a second plane of rotation.
6. The unmanned aerial vehicle rotor retraction system of any one of claims 1 to 4 wherein the plane perpendicular to the rotation output shaft is a plane of rotation, the first hinge portion, the second hinge portion being located in a first plane of rotation, the first force application portion, the second force application portion being located in a second plane of rotation.
7. The unmanned aerial vehicle rotor retraction system of claim 6 wherein the first link and the second link are tilted when the first arm and the second arm are closest to the center of articulation; when the first support arm and the second support arm deviate from the hinging center, the first connecting rod and the second connecting rod incline and are crossed.
8. The unmanned aerial vehicle rotor retraction system of any one of claims 1 to 4 wherein the first boom and the second boom each comprise a boom body and a pull arm disposed on an outer side of the boom body and extending relative to the outer side of the boom body.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016102779480 | 2016-04-29 | ||
| CN201610277948 | 2016-04-29 |
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| CN106542088A CN106542088A (en) | 2017-03-29 |
| CN106542088B true CN106542088B (en) | 2024-05-28 |
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| CN201611121054.9A Active CN106542088B (en) | 2016-04-29 | 2016-12-08 | Unmanned aerial vehicle rotor wing retraction control mechanism and unmanned aerial vehicle rotor wing retraction system |
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|---|---|---|---|---|
| EP3630602A4 (en) * | 2017-05-25 | 2021-01-13 | SZ DJI Technology Co., Ltd. | Rotational expansion of propulsion systems of a movable vehicle |
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