CN110641680B

CN110641680B - Collapsible many rotor unmanned aerial vehicle

Info

Publication number: CN110641680B
Application number: CN201811548025.XA
Authority: CN
Inventors: 杨超峰
Original assignee: Shenzhen Gridmore Innovative Technology Co ltd
Current assignee: Shenzhen Gridmore Innovative Technology Co ltd
Priority date: 2018-12-18
Filing date: 2018-12-18
Publication date: 2021-07-23
Anticipated expiration: 2038-12-18
Also published as: WO2020125523A1; CN110641680A

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and relates to a foldable multi-rotor unmanned aerial vehicle. Unmanned aerial vehicle adopts the rotor technique of verting, through the rotor angle of the device control rotor that verts, the mechanism that the control rotor verts is a rotary mechanism who is connected with rotation controller, simple structure, and control mode is direct accurate, and the controllability is good. Unmanned aerial vehicle can fold rotor support, lift device through the rotor device of verting and retrieve integratively, and folding mode is simple, folding back small and exquisite, has fine portability and application convenience. Unmanned aerial vehicle adopts the rotor that verts to realize flight control, and the fuselage gesture does not need the adjustment, can maintain the fuselage stationarity during the flight, guarantees the effect of shooting the image.

Description

Collapsible many rotor unmanned aerial vehicle

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a foldable multi-rotor unmanned aerial vehicle.

Background

With the development of microelectronics and new materials, consumer-grade drones (especially helicopter-type drones) are rapidly developing. Early consumer-grade helicopter is the miniaturization of traditional helicopter, but, the swash plate structure of traditional helicopter is too complicated, the manufacturing degree of difficulty is big, the reliability is low, correspondingly, many rotor unmanned aerial vehicle's simple structure, realization are easy, the reliability is high, many rotor unmanned aerial vehicle have become the mainstream in market at present, wherein, four rotor unmanned aerial vehicle are the most important many rotor unmanned aerial vehicle type.

The core application of consumer-grade drones is self-timer. Compare in great large-scale unmanned aerial vehicle that takes photo by plane, this kind of unmanned aerial vehicle flies very low, and its main flight orbit is flying round people, and consequently naked rotor is a very big potential safety hazard. In order to avoid the rotor wing from accidentally injuring people, the ideal solution is to wrap the rotor wing with a closed protective frame, but this can bring the portability problem, and the portability is a key technical index of the self-shooting unmanned aerial vehicle. At present four rotor unmanned aerial vehicle adopt collapsible rotor to realize the portability, but if wrap up the rotor with a fixed protective frame, the protective frame is as big as the wing dish of rotor, and the total area of a plurality of protective frames will make unmanned aerial vehicle become very big, loses the portability. If adopt detachable protective frame, receive and release unmanned aerial vehicle at every turn and all need the dismouting protective frame then, this kind of mode influences the usability to the auto heterodyne unmanned aerial vehicle chance that needs high frequency to receive and release.

In addition to rotor protection problems, a problem with micro drones is the stability of the captured images. Based on many rotor unmanned aerial vehicle's flight control principle, unmanned aerial vehicle all need make pitch motion and/or roll motion under acceleration and deceleration, wind speed change or wind direction change etc. condition, for example: during forward flight, the unmanned plane lowers the head to enable the rotor wing to tilt forward to generate forward thrust; when the unmanned plane flies sideways, the unmanned plane tilts to enable the rotor wing to tilt to generate transverse thrust; when the side wind exists, the unmanned plane needs to roll to enable the rotor wing to roll to resist the wind force. In the flying process of the unmanned aerial vehicle, the pitching motion and the rolling motion are frequent and have large amplitude, and the shooting effect of the camera is seriously influenced. One simple way to solve the above problem is to use digital image anti-shaking techniques, but the digital image anti-shaking techniques have limited effectiveness. At present, the solution of the middle-high-end multi-rotor unmanned aerial vehicle is to hang a camera on a cradle head, and the cradle head rotates to offset the tilting of the fuselage so as to obtain a satisfactory image. However, the micro unmanned aerial vehicle has a light body, and compared with a heavy large unmanned aerial vehicle, the micro unmanned aerial vehicle needs to adjust a larger pitch angle or roll angle to generate enough force to complete flight attitude control.

Disclosure of Invention

The invention provides a foldable multi-rotor unmanned aerial vehicle, which aims at the problems that the safety of an exposed rotor of the rotor unmanned aerial vehicle is poor, the portability is poor after a protective frame is installed, and the body is not stable.

In order to solve the above problems, the present invention adopts the following technical solutions: there is provided a foldable multi-rotor drone comprising:

a body;

two rotor supports;

the two lifting devices are respectively arranged on the two rotor wing brackets, and each lifting device comprises a rotor wing; and

the rotor wing tilting device is arranged on the fuselage and comprises at least three rotating mechanisms, and the two rotor wing brackets are connected to the rotating mechanisms and are folded or unfolded through the rotation of the rotating mechanisms; at least one of the rotating mechanisms is connected with a rotating controller used for controlling the rotating mechanism to rotate, and the rotating controller controls the rotating mechanism to rotate so as to control the inclination angle of the rotor wing.

Compared with the prior art, the invention has the following beneficial technical effects:

unmanned aerial vehicle can fold rotor support, lift device through the rotor device of verting and retrieve integratively, and folding mode is simple, folding back small and exquisite, has fine portability and application convenience. Unmanned aerial vehicle adopts the rotor technique of verting, and the mechanism that the control rotor verted is a rotary mechanism who is connected with rotary controller, simple structure, and control mode is direct accurate, and the controllability is good. Through the rotor angle of inclination of rotor device control rotor that verts, the fuselage when unmanned aerial vehicle flies can maintain steadily, guarantees the effect of shooting the image.

Optionally, a yaw controller is included that outputs a moment that causes the foldable multi-rotor drone to produce yaw motion for yaw motion control of the foldable multi-rotor drone.

Optionally, the aircraft further comprises a fuselage stabilizer outputting a torque that generates a tilting motion of the fuselage for maintaining the smoothness of the fuselage. Fuselage stabilizer restraines the fuselage motion of verting that wind-force leads to, combines the rotor technique that verts, and the fuselage when unmanned aerial vehicle flies can maintain steadily, guarantees the effect of shooting the image.

Optionally, still including dismantling or fixed mounting the rotor on the rotor support protects the frame, rotor protection frame is hollow structure, the rotor is arranged in the inside of rotor protection frame, rotor protection frame is used for the protection the rotor. Unmanned aerial vehicle can fold rotor support, lift device and fixed mounting's rotor protective frame through the rotor device of verting and retrieve integratively, and folding mode is simple, folding back small and exquisite, has fine portability and application convenience.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1(a), 1(b), and 1(c) are respectively a perspective view, a partially enlarged view, and an exploded view of a foldable multi-rotor drone provided by a first set of embodiments of the present invention;

fig. 2(a) and 2(b) are a perspective view of the foldable multi-rotor unmanned aerial vehicle shown in fig. 1 after being folded and recovered and an enlarged view of a rotor tilting device, respectively;

figure 3 is a block diagram of a rotor tilter assembly according to a second set of embodiments of the present invention;

fig. 4(a) and 4(b) are a perspective view and an enlarged view of a rotor tilting device of a foldable multi-rotor drone provided by a third group of embodiments of the present invention;

fig. 5(a) and 5(b) are a perspective view and a partial enlarged view of the foldable multi-rotor unmanned aerial vehicle shown in fig. 4 after being folded and recovered, respectively;

figure 6 is a block diagram of a rotor tilter assembly according to a fourth embodiment of the present invention;

fig. 7 is a perspective view of a foldable multi-rotor drone according to two sets of embodiments of the present invention;

fig. 8(a) and 8(b) are a perspective view and a partially enlarged view of a foldable multi-rotor drone provided by three sets of first embodiments of the present invention, respectively;

figure 9 is a structural view of a rotor tilter assembly according to three second embodiments of the invention;

figure 10 is a structural view of a rotor tilter assembly according to a third set of embodiments of the present invention;

figure 11 is a structural view of a rotor tilter assembly according to a fourth set of embodiments of the present invention;

figure 12 is a block diagram of a rotor tilter assembly according to a fifth group of embodiments of the present invention;

figure 13 is a structural view of a rotor tilter assembly according to a third group of sixth embodiments of the present invention;

figure 14 is a structural view of a rotor tilter assembly according to three seventh embodiments of the invention;

figure 15 is a structural view of a rotor tilter assembly according to an eighth three-group embodiment of the present invention;

fig. 16(a), 16(b), 16(c) are respectively a perspective view, a partially enlarged view, and an exploded view of a foldable multi-rotor drone provided by a fourth set of first embodiments of the present invention;

fig. 17(a) and 17(b) are a perspective view and a partially enlarged view of a foldable multi-rotor drone according to a fourth embodiment of the present invention;

figure 18 is a structural view of a rotor tilter assembly according to a fourth embodiment of the present invention;

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the embodiments of the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.

Referring to fig. 1 and 2, in an embodiment of the present invention, a foldable multi-rotor drone is provided, which includes a fuselage 800, two rotor supports 500, two lift devices 200, and a rotor tilting device 100. Two lift devices 200 are respectively mounted to the two rotor pylons 500, the lift devices 200 including rotors 210. The rotor tilting device 100 is installed on the fuselage 800, the rotor tilting device 100 includes at least three rotating mechanisms, and two of the rotor supports 500 are connected to the rotating mechanisms and are folded or unfolded by the rotation of the rotating mechanisms; at least one of the rotary mechanisms is connected with a rotary controller 300 for controlling the rotary mechanism to rotate, and the rotary controller 300 controls the rotary mechanism to rotate to control the inclination angle of the rotor 210.

Unmanned aerial vehicle can fold rotor support 500, lift device 200 and retrieve integratively through the rotor device of verting, and folding mode is simple, small and exquisite after folding, has fine portability and application convenience. Unmanned aerial vehicle adopts the rotor technique of verting, and the mechanism that the control rotor verted is a rotary mechanism who is connected with rotation controller 300, simple structure, and control mode is direct accurate, and the controllability is good. Through the rotor tilt device 100 control rotor 210's inclination, fuselage 800 when unmanned aerial vehicle flies can maintain steadily, guarantees the effect of shooing the image.

It should be noted that the rotating mechanism may be a shafting structure, a hinge structure, or any rotating structure capable of implementing the required functions.

The shafting structure is a rotating structure taking a bearing and a transmission shaft as main components. For example, in the first rotation mechanism 131a shown in fig. 1, a transmission shaft 1311a is provided at a middle portion of the first adaptor bracket 121a, a bearing 1312a is provided in the mounting hole of the body 800, and the first adaptor bracket 121a is rotatably coupled to the body 800 through the transmission shaft 1311a and the bearing 1312 a. It is noted that the opposite arrangement, i.e., the arrangement of the bearing at the first adaptor bracket 121a and the arrangement of the transmission shaft at the body 800, is also possible. Rotary mechanisms of shafting construction are commonly used in applications requiring high precision rotational control.

The rotation controller 300 is a mechanism capable of outputting a predetermined rotation angle. For example, the rotation controller 300 shown in fig. 1 may be a server formed by a dc motor 301 and gear sets (302, 303), the first rotation mechanism 131a is connected to the rotation controller 300, the dc motor 301 drives a driving gear 302 to rotate, the first adapter bracket 121a is fixed with a driven gear 303, and the driving gear 302 is in meshing transmission with the driven gear 303 to further drive the first adapter bracket 121a to rotate.

The hinge structure is a transmission structure which realizes the rotary connection of two structural parts by a hinge or a pin shaft. For example, the second rotating mechanism 132a shown in fig. 1, a pin is inserted through the mounting hole of the rotor bracket 500 and fixed to the first adapter bracket 121a, so that the rotor bracket 500 is rotatably connected to the first adapter bracket 121 a.

In another embodiment of the present invention, a fuselage stabilizer 600 is further provided for offsetting the tilting motion of the fuselage 800 caused by the external force, wherein the tilting motion refers to the pitching motion and the rolling motion of the fuselage 800, so as to maintain the stability of the fuselage 800 when the unmanned aerial vehicle flies, and thus the image capturing effect of the unmanned aerial vehicle is good.

In another embodiment of the present invention, the rotor wing protection frame 400 is detachably or fixedly mounted on the rotor wing bracket 500, and encloses the rotor wing 210 therein, and may be a fully enclosed hollow structure for protecting the rotor wing 210 and preventing the rotor wing 210 from hurting people.

Unmanned aerial vehicle can fold rotor support 500, lift device 200 and rotor protective frame 400 with the integration through rotor tilting device 100 and retrieve, and unmanned aerial vehicle is small and exquisite after folding, folding mode is simple. Because rotor protective frame 400 can fixed mounting, need not dismouting rotor protective frame 400 when receiving and releasing unmanned aerial vehicle at every turn, when having guaranteed rotor 210 security, still have fine portability and application convenience. Unmanned aerial vehicle adopts the rotor technique of verting, and the mechanism that control rotor 210 verts is a rotary mechanism who is connected with rotation controller 300, simple structure, and control mode is direct accurate, and the controllability is good.

One group of examples:

this group of embodiments provides a four rotor unmanned aerial vehicle. There are multiple implementation modes in this group of embodiment unmanned aerial vehicle, and fig. 1 shows a specific example, including fuselage 800, two rotor support 500, two lift devices 200, rotor tilt device 100.

In another embodiment of the present invention, the lift device 200 comprises two motors 220 and two rotors 210, wherein the two motors 220 are mounted on the rotor bracket 500 one above the other, the two rotors 210 are mounted on two motor shafts respectively, the two rotors 210 rotate in opposite directions, and the rotation torques thereof cancel each other out. It is noted that the lift device 200 may comprise more than two rotors 210, as long as the rotational torques of all rotors 210 cancel each other out, and the working principle is the same as the dual rotor 210 mode, which is described below as an example. Two lift devices 200 are mounted on two rotor pylons 500, respectively.

In another embodiment of the present invention, the fuselage 800 comprises a fuselage body 810 and a horn 820, the fuselage body 810 houses most of the functional modules of the drone, such as the battery, sensors and cameras, distributing most of the weight of the drone, and one end of which protrudes beyond the horn 820.

In another embodiment of the present invention, the rotating mechanisms are divided into a first rotating mechanism 131a, a second rotating mechanism 132a, and a third rotating mechanism 133a, and rotor tilting device 100 includes a first adaptor bracket 121 a. The first adaptor bracket 121a is rotatably coupled to the arm 820 of the body 800 by the first rotating mechanism 131 a. First adaptor bracket 121a has two end 1211a, and two end 1211a are respectively rotatably connected to two rotor brackets 500 through second rotating mechanism 132a and third rotating mechanism 133a, and the middle portion is connected to first rotating mechanism 131 a. The first rotating mechanism 131a is a shafting structure and is connected to a rotation controller 300. The two rotor pylons 500 can be controlled by the rotary controller 300 to rotate synchronously about the rotational axis of the first rotary mechanism 131 a. Second rotary mechanism 132a and third rotary mechanism 133a adopt hinge structure for folding of unmanned aerial vehicle retrieves, as shown in fig. 2, two rotor support 500 of the unmanned aerial vehicle shown in fig. 1 respectively rotate 90 degrees downwards around second rotary mechanism 132a and third rotary mechanism 133a, can be with two rotor support 500 and install lift device 200 on it folding retrieval integratively.

The flight control principle of the unmanned aerial vehicle is as follows: during flying, the main body 810 of the unmanned aerial vehicle is located below the rotor 210, the main body 810 contains most of the weight of the unmanned aerial vehicle, and based on the supporting effect of the gravity of the main body, the two rotor supports 500 can be controlled to rotate around the rotating shaft of the first rotating mechanism 131a through the first rotating mechanism 131a, and it is noted that the rotating shaft of the first rotating mechanism 131a of the embodiment is parallel to the Y axis of the unmanned aerial vehicle, so that the motion of the unmanned aerial vehicle in the X axis direction can be controlled, that is, the unmanned aerial vehicle flies back and forth along the X axis or the wind force effect in the X axis direction is counteracted; by adjusting the rotating speed of the rotor 210, the lift difference generated by the rotors 210 in the two lift devices 200 is controlled, and meanwhile, the rotating torques of the two rotors 210 in each lift device 200 are kept to be offset, so that the motion of the unmanned aerial vehicle in the Y-axis direction can be controlled, namely, the unmanned aerial vehicle flies back and forth along the Y-axis or the wind force action in the Y-axis direction is offset; the total lift force generated by the rotor wings 210 is controlled by adjusting the rotating speed of the rotor wings 210, and meanwhile, the rotating torques of the two rotor wings 210 of each lift force device 200 are kept to be mutually offset, so that the lifting control of the unmanned aerial vehicle is realized; through adjusting rotor 210 rotational speed, make two rotor 210 rotation torque of every lift device 200 can not offset each other, produce the yawing moment, control unmanned aerial vehicle's yaw motion.

The technical characteristics of the flight control principle of the unmanned aerial vehicle are as follows: the thrust of the rotor 210 cannot be used to control the rotation of the fuselage 800 around the Y-axis, and the main acting forces determining the rotation of the fuselage 800 around the Y-axis are the wind force (or other external forces) and the gravity of the fuselage, and when the fuselage 800 is acted by the wind force or accelerated or decelerated, the fuselage 800 can tilt with the lift center of the unmanned aerial vehicle as the pivot, and the tilt angle is determined by the magnitude of the wind force and the gravity of the fuselage.

In another embodiment of the present invention, the drone shown in fig. 1 further includes two fuselage stabilizers 600, and the two fuselage stabilizers 600 are disposed at two ends of the fuselage 800. Fuselage stabilizer 600 includes and stabilizes the guide vane 610 and stabilizes servo controller, it is in the below of rotor 210 to stabilize guide vane 610, the downwash air current production that utilizes rotor 210 makes fuselage 800 round the rotatory moment of Y axle, it is rotatory to stabilize guide vane 610 through stabilizing servo controller control, the adjustment comes the size of adjusting torque for the angle of rotor air current, thereby offset the fuselage 800 round the motion of verting of Y axle that external force (like wind-force) leads to, guarantee the unmanned aerial vehicle fuselage round the rotational motion stationarity of Y axle.

The specific working principle of the fuselage stabilizer 600 shown in fig. 1 is: one surface of the stabilizing guide vane 610 faces the rotor 210 airflow, which generates pressure on the surface, thereby outputting a moment that rotates the fuselage 800 about the Y-axis; the stabilizing servo controller controls the stabilizing guide vane 610 to rotate, and adjusts the size of the surface facing the airflow, thereby adjusting the size of the generated torque. For example, if the wind force causes the fuselage 800 to rotate upward about the Y-axis nose, the stabilizing vanes 610 of the fuselage stabilizer 600 near the end of the horn 820 rotate toward the fuselage to reduce the moment, and the stabilizing vanes 610 of the fuselage stabilizer 600 at the nose end rotate away from the fuselage to increase the moment, thereby generating a moment that inhibits the fuselage 800 from rotating upward.

Each fuselage stabilizer 600 shown in fig. 1 includes two stabilizing baffles 610. In another embodiment of the present invention, the fuselage stabilizer 600 comprises only one stabilizing guide vane 610, however, the fuselage stabilizer 600 of this embodiment additionally generates a moment to rotate the fuselage 800 about the X-axis, which is complicated to control. It should be noted that it is also feasible to provide only one fuselage stabilizer 600 at the end of one fuselage 800, and at this time, the moment is small, and the stability of the fuselage 800 is slightly lower than that of the two fuselage stabilizers 600, but the structure is simpler.

It should be noted that the fuselage stabilizer 600 may be disposed in other manners, for example, it may be disposed on the rotor bracket 500, and the fuselage stabilizer 600 should be disposed at a position with a larger moment arm as much as possible, so as to improve the power efficiency.

In another embodiment of the present invention, the fuselage stabilizer 600 is based on another baffle technology, and the stabilizing baffle adopts a fixed wing principle, and both surfaces of the stabilizing baffle face the rotor airflow, and the pressure difference generated by the downwash airflow of the rotor on both surfaces of the stabilizing baffle is utilized to generate the torque, which is a way of high power efficiency but is easily influenced by the external airflow.

In another embodiment of the present invention, the body stabilizer 600 is implemented based on a fan, which is installed on the body 800, and the thrust direction thereof is preferably parallel to the X axis, and the torque can be controlled by adjusting the rotation speed of the fan. The two fans can be used, the wind directions of the two fans are opposite to generate two-direction moments, or two groups of fan blades are arranged in the fans, the air outlet directions of the two groups of fan blades are opposite to each other, so that the fans can output the moments with basically the same magnitude when rotating clockwise or anticlockwise, and the directions of the moments can be controlled by controlling the rotating directions of the fans.

Further, there are various embodiments of the rotor tilter apparatus 100 of the set of drones, and the following are some examples:

fig. 3 shows another embodiment of the present invention, in which the rotating mechanisms are divided into a first rotating mechanism 131b, a second rotating mechanism 132b, and a third rotating mechanism 133b, and the rotor tilting device 100 further includes a first adapter bracket 121 b. The first transfer bracket 121b is rotatably connected to the body 800 by the first rotating mechanism 131 b; the two rotor supports 500 are respectively rotatably connected to the first rotating support 121b through the second rotating mechanism 132b and the third rotating mechanism 133b, the first rotating mechanism 131b is a shafting structure, the rotating controller 300 is connected to the first rotating mechanism 131b, and the second rotating mechanism 132b and the third rotating mechanism 133b are hinged structures. It should be noted that the structure of the present embodiment is a modification of the rotor tilting device 100 of the drone shown in fig. 1, and the only difference is that: first adaptor bracket 121b of fig. 3 has three ends 1211b, wherein one end 1211b is connected to first rotary mechanism 131b, and the other two ends 1211b are connected to two rotor brackets 500 through second rotary mechanism 132b and third rotary mechanism 133b, while first adaptor bracket 121a of fig. 1 has two ends 1211a, the middle of which is connected to first rotary mechanism 131 a.

Fig. 4 shows another embodiment of the present invention, in which the rotating mechanisms are divided into a first rotating mechanism 131c, a second rotating mechanism 132c, and a third rotating mechanism 133c, and the rotor tilter apparatus 100 further includes a first adaptor bracket 121c and a second adaptor bracket 122 c. The first adapter bracket 121c is rotatably connected to the fuselage 800 by the first rotating mechanism 131c, the second adapter bracket 122c is rotatably connected to the first adapter bracket 121c by the second rotating mechanism 132c, one of the rotor brackets 500 is fixedly connected to one end 1221c of the second adapter bracket 122c, and the other rotor bracket 500 is rotatably connected to the other end 1221c of the second adapter bracket 122c by the third rotating mechanism 133 c. The second rotating mechanism 132c is a shafting structure and is connected to a rotating controller 300. The first rotating mechanism 131c and the third rotating mechanism 133c are hinged structures, and the folding manner of the present embodiment is different from the structure shown in fig. 2, as shown in fig. 5, the folding manner is that the first rotating mechanism 131c rotates 90 ° counterclockwise toward the main body 810 and the third rotating mechanism 133c rotates 180 ° clockwise toward the main body 810. It should be noted that the second adaptor bracket 122c of the present embodiment has a two-end 1221c structure, and similar to the first adaptor bracket 121b shown in fig. 3, the present embodiment also has a modification in which the second adaptor bracket 122c is a three-end structure, and the function thereof is the same as that of the two-end structure.

Fig. 6 shows another embodiment of the present invention, in which the rotating mechanisms are divided into a first rotating mechanism 131d, a second rotating mechanism 132d, and a third rotating mechanism 133d, and the rotor tilting device 100 further includes a first adaptor bracket 121d and a second adaptor bracket 122 d. The first adapter bracket 121d is rotatably connected to the fuselage 800 by the first rotating mechanism 131d, the second adapter bracket 122d is rotatably connected to the first adapter bracket 121d by the second rotating mechanism 132d, one of the rotor brackets 500 is fixedly connected to the second adapter bracket 122d, and the other rotor bracket 500 is rotatably connected to the second adapter bracket 122d by the third rotating mechanism 133 d. The first rotating mechanism 131d is a shafting structure and is connected to the rotating controller 300. The second and third

rotating mechanisms

132d and 133d are hinged structures that fold in a manner similar to the drone shown in fig. 5.

Two groups of examples:

the set of drones of the embodiment is characterized in that each lift device 200 comprises at least two rotors 210, and the rotation torques of the rotors 210 in each lift device 200 can be mutually offset. For the case where each lift device 200 includes only one rotor 210, or includes a plurality of rotors 210, but the rotational torques of the rotors 210 cannot cancel each other out, the present group of embodiments provides a multi-rotor drone that is provided with a yaw controller 700 for cancellation of the rotational torques of the rotors 210 and yaw motion control of the drone.

Fig. 7 shows an embodiment of the drone of this embodiment, which includes a fuselage 800, two rotor supports 500, two lift devices 200, a yaw controller 700, and a rotor tilt device 100.

The lift device 200 includes a motor 220 and a rotor 210, the motor 220 being mounted on a rotor bracket 500, the rotor 210 being mounted on a motor shaft. It should be noted that the lift device 200 of the drone of the present embodiment is not limited to include one motor 220 and one rotor 210, and for example, may include two rotors 210 rotating in the same direction, and the operation principle is the same as that of the single rotor 210 mode, which is described below as an example.

The fuselage 800, the rotor support 500 and the rotor tilting device 100 of the unmanned aerial vehicle shown in fig. 7 are the same as those of the unmanned aerial vehicle shown in fig. 1, and are not described again. With respect to the drone of fig. 1, the drone of fig. 7 is provided with a yaw control 700, the yaw control 700 being mounted on the rotor pylon 500, below the rotor 210.

The flight control of the drone of the present embodiment is different from the drone of the present embodiment only in yaw control. Because the rotary torque of the rotor 210 in each lift device 200 of the unmanned aerial vehicle of the present group of embodiments cannot be offset by itself, which means that the motion control and yaw motion control in the Y axis direction cannot be realized simultaneously by adjusting the rotation speed of the rotor 210, the unmanned aerial vehicle of the present embodiment is provided with the yaw controller 700, and the yaw controller 700 can output the moment for enabling the unmanned aerial vehicle to generate yaw motion, so as to offset the difference in rotary torque of the rotors generated by the two lift devices 200 or control the yaw motion of the unmanned aerial vehicle.

The yaw controller 700 of the drone shown in fig. 7 comprises a yaw diaphragm 710 and a yaw servo controller (not shown), and its working principle is: the yawing diversion vane 710 adopts a fixed wing principle and is positioned below the rotor 210, the downwash of the rotor 210 generates pressure difference on two surfaces of the yawing diversion vane 710, and the pressure difference generates moment for enabling the unmanned aerial vehicle to perform yawing motion; the yaw moment and the moment direction are controlled by controlling the attack angle of the yaw guide vane 710 facing the air flow of the rotor 210 through the yaw servo controller.

The yaw controller 700 of the drone shown in fig. 7 contains only one yaw diaphragm 710. In another embodiment of the present invention, a plurality of yaw deflectors 710 are provided to increase the magnitude of the yaw moment. It is noted that it is also possible to provide only one yaw controller 700, but this asymmetric configuration is more complicated to control; yaw control 700 may be mounted on fuselage 800 or other locations through which the rotor airflow passes, in addition to rotor pylon 500; the yaw controller 700 should be installed at the maximum moment arm as possible to improve power efficiency.

In another embodiment of the present invention, the yaw controller 700 is implemented as a fan, and uses the thrust of the fan to generate the yaw moment.

It is noted that the yaw diaphragm 710 of the yaw controller 700 of the drone shown in fig. 7 may be rotated to be parallel to the rotor pylon 500 without affecting the folding recovery of the rotor pylon 500.

The drone shown in fig. 7 further includes a fuselage stabilizer 600, which is the same as the drone shown in fig. 1 and is not described again.

The rotor tilting device 100 of the unmanned aerial vehicle has various embodiments, and the rotor tilting device 100 structure suitable for the group of unmanned aerial vehicles of the embodiments can be used for the unmanned aerial vehicle of the embodiments, for example, the structures shown in fig. 3, fig. 4 and fig. 6 and their modifications are all feasible ways.

Three groups of examples:

the embodiment of the two-set drone-equipped yaw controller 700 controls the yaw motion for the case where each lift device 200 contains only one rotor 210, or contains multiple rotors 210 but the rotational torques of these rotors 210 cannot cancel each other out. This group of embodiment unmanned aerial vehicle utilizes the thrust of rotor 210 that verts to realize unmanned aerial vehicle's yaw control.

Fig. 8 shows an embodiment of the present drone, which includes a fuselage 800, two rotor supports 500, two lift devices 200, and a rotor tilter device 100. Wherein, lift device 200, rotor support 500 are the same with the unmanned aerial vehicle that fig. 7 shows, no longer describe. The drone shown in fig. 8 further includes a fuselage stabilizer 600, which is the same as the drone shown in fig. 1 and is not described again.

The rotating mechanisms are divided into a first rotating mechanism 131e, a second rotating mechanism 132e, a third rotating mechanism 133e, and a fourth rotating mechanism 134e, and the rotor tilting device 100 further includes a first adaptor bracket 121e and a second adaptor bracket 122 e. The first adaptor bracket 121e and the second adaptor bracket 122e are respectively rotatably connected to the fuselage 800 by the first rotating mechanism 131e and the second rotating mechanism 132e, and the two rotor brackets 500 are respectively rotatably connected to the first adaptor bracket 121e and the second adaptor bracket 122e by the third rotating mechanism 133e and the fourth rotating mechanism 134 e. The first rotating mechanism 131e and the second rotating mechanism 132e are connected to the rotating controller 300 by a shafting structure. Independent rotation of two rotor pylons 500 can be controlled by first and second

rotary mechanisms

131e and 132 e. The third rotating mechanism 133e and the fourth rotating mechanism 134e adopt hinged structures, and are used for folding and recovering the unmanned aerial vehicle, and the folding mode is similar to that of the unmanned aerial vehicle shown in fig. 2.

The drone shown in fig. 8 corresponds to a set of drones according to the embodiment and a set of drones according to the embodiment, and the only difference is yaw control, and the principle of yaw control is as follows: the first rotating mechanism 131e and the second rotating mechanism 132e can control the two rotors 210 to rotate at different angles, so that the thrust of the two rotors 210 in the X-axis direction is unequal, a torque rotating around the Z-axis is generated, the rotation torque difference of the two rotors 210 is offset, or the yaw control of the unmanned aerial vehicle is realized. As shown in fig. 8, tilting one rotor 210 up and the other rotor 210 down produces a yaw torque that rotates the drone about the Z axis in the direction of the arrow.

Further, there are other embodiments of the rotor tilting device 100 of the drone of the present group of embodiments, and the following are some examples:

in another embodiment of the present invention shown in fig. 9, the present embodiment is a modification of the rotor tilter assembly shown in fig. 8: the third rotating mechanism 133e and the fourth rotating mechanism 134e having the structures shown in fig. 8 are changed to rotating mechanisms (133f, 134f) having a shafting structure and connected to the rotation controller 300, and the first rotating mechanism 131e and the second rotating mechanism 132e are changed to rotating mechanisms (131f, 132f) having a hinge structure. Similarly, there are other modifications to the rotor tilter assembly shown in figure 8: 1. as another embodiment of the present invention, the third rotating mechanism 133e is changed to a shafting structure and provided with the rotation controller 300, and the first rotating mechanism 131e is changed to a hinge structure; 2. as another embodiment of the present invention, the fourth rotating mechanism 134e is changed to a shafting structure and the rotation controller 300 is provided, and the second rotating mechanism 132e is changed to a hinge structure.

In another embodiment of the present invention shown in fig. 10, the rotating mechanisms are divided into a first rotating mechanism 131g, a second rotating mechanism 132g, a third rotating mechanism 133g, and a fourth rotating mechanism 134g, and the rotor tilting device 100 further includes a first adaptor bracket 121g and a second adaptor bracket 122 g. The first transfer bracket 121g is rotatably connected to the body 800 by the first rotating mechanism 131 g; the second adaptor bracket 122g is rotatably connected to the first adaptor bracket 121g by the third rotating mechanism 133 g; one of the rotor supports 500 is pivotally coupled to the first adaptor support 121g via the second pivot mechanism 132g, and the other rotor support 500 is pivotally coupled to the second adaptor support 122g via the fourth pivot mechanism 134 g. The first rotating mechanism 131g and the third rotating mechanism 133g are shafting structures and are connected with the rotating controller 300, and the second rotating mechanism 132g and the fourth rotating mechanism 134g are hinged structures, and the folding mode of the structures is similar to that of the unmanned aerial vehicle shown in fig. 2. It should be noted that, although the tilt control of the two rotors 210 in this embodiment is the same as the principle of the unmanned aerial vehicle shown in fig. 8, the implementation manner is different, in this embodiment, the first rotating mechanism 131g controls the two rotors 210 to rotate synchronously, and the third rotating mechanism 133g controls one of the rotors 210 to rotate independently, so as to implement that the two rotors 210 rotate at different angles, and some subsequent embodiments also have this characteristic, and are not described again. Further, the first adapter bracket 121g of the present embodiment has a structure with two ends 1211g, similar to the first adapter bracket 121b shown in fig. 3, the first adapter bracket 121g of the present embodiment also has a modification of a three-end structure, as another embodiment of the present invention. Further, the modified structure of the embodiment further comprises: the third rotating mechanism 133g is changed to a hinge structure, and the fourth rotating mechanism 134g is changed to a shafting structure and connected with a rotation controller 300 as another embodiment of the present invention.

In another embodiment of the present invention shown in fig. 11, the rotating mechanisms are divided into a first rotating mechanism 131h, a second rotating mechanism 132h, a third rotating mechanism 133h, and a fourth rotating mechanism 134h, and the rotor tilting device 100 further includes a first adaptor bracket 121h, a second adaptor bracket 122h, and a third adaptor bracket 123 h. The first transfer bracket 121h is rotatably connected to the body 800 by the first rotating mechanism 131 h; the second adaptor bracket 122h is rotatably connected to the first adaptor bracket 121h through the second rotating mechanism 132 h; the third adaptor bracket 123h is rotatably connected to the second adaptor bracket 122h through the third rotating mechanism 133 h; one of the rotor supports 500 is fixedly connected to the second adapter support 122h, and the other rotor support 500 is rotatably connected to the third adapter support 123h through the fourth rotating mechanism 134 h. The second rotating mechanism 132h and the fourth rotating mechanism 134h are shafting structures and are connected with the rotating controller 300, and the first rotating structure 131h and the third rotating mechanism 133h are hinged structures, and the folding mode of the structures is similar to that of the unmanned aerial vehicle shown in fig. 5. Further, similar to the first adaptor bracket 121b shown in fig. 3, the second adaptor bracket 122h of the present embodiment has a two-terminal structure, and has a modified structure with three terminals, as another embodiment of the present invention. Further, the modified structure of the embodiment further comprises: the fourth rotating mechanism 134h is changed to a hinge structure, and the third rotating mechanism 133h is changed to a shafting structure and connected with a rotation controller 300 as another embodiment of the present invention.

In another embodiment of the present invention shown in fig. 12, the rotating mechanisms are divided into a first rotating mechanism 131i, a second rotating mechanism 132i, a third rotating mechanism 133i, and a fourth rotating mechanism 134i, and the rotor tilting device 100 further includes a first adaptor bracket 121i and a second adaptor bracket 122 i. The first transfer bracket 121i is rotatably connected to the body 800 by the first rotating mechanism 131 i; the second adaptor bracket 122i is rotatably connected to the first adaptor bracket 121i through the second rotating mechanism 132 i; the two rotor pylons 500 are rotatably connected to the second adaptor pylon 122i by the third and fourth rotation mechanisms 133i and 134i, respectively. The second rotating mechanism 132i and the third rotating mechanism 133i are shafting structures and are connected with the rotating controller 300, and the first rotating mechanism 131i and the fourth rotating mechanism 134i are hinged structures, and the folding mode of the structures is similar to that of the unmanned aerial vehicle shown in fig. 5. Further, similar to the first adaptor bracket 121b shown in fig. 3, the second adaptor bracket 122i of the present embodiment has a two-terminal structure, and has a modified structure with three terminals, as another embodiment of the present invention.

In another embodiment of the present invention shown in fig. 13, the rotating mechanisms are divided into a first rotating mechanism 131j, a second rotating mechanism 132j, a third rotating mechanism 133j, and a fourth rotating mechanism 134j, and the rotor tilting device 100 further includes a first adaptor bracket 121j and a second adaptor bracket 122 j. The first transfer bracket 121j is rotatably connected to the body 800 through the first rotating mechanism 131 j; the second adaptor bracket 122j is rotatably connected to the first adaptor bracket 121j through the second rotating mechanism 132 j; one of the rotor frames 500 is pivotally connected to the first adapter frame 121j via a fourth pivot mechanism 134j, and the other rotor frame 500 is pivotally connected to the second adapter frame 122j via a third pivot mechanism 133 j. The second rotating mechanism 132j and the fourth rotating mechanism 134j are shafting structures and are connected with the rotating controller 300, and the first rotating mechanism 131j and the third rotating mechanism 133j are hinged structures, and the folding mode of the structures is similar to that of the unmanned aerial vehicle shown in fig. 5. Further, the modified structure of the embodiment is as follows: the second rotating mechanism 132j is a hinge structure, and the third rotating mechanism 133j is a shaft structure and is connected to a rotation controller 300 as another embodiment of the present invention.

In another embodiment of the present invention shown in fig. 14, the rotating mechanisms are divided into a first rotating mechanism 131k, a second rotating mechanism 132k, a third rotating mechanism 133k, and a fourth rotating mechanism 134k, and the rotor tilting device 100 further includes a first adaptor bracket 121k and a second adaptor bracket 122 k. The first transfer bracket 121k is rotatably connected to the body 800 by the first rotating mechanism 131 k; the second adaptor bracket 122k is rotatably connected to the first adaptor bracket 121k by a second rotating mechanism 132 k; the two rotor pylons 500 are rotatably coupled to the second adaptor pylon 122k by the third and

fourth rotation mechanisms

133k and 134k, respectively. The first rotating mechanism 131k and the third rotating mechanism 133k are shafting structures and are connected with a rotating controller 300, and the second rotating mechanism 132k and the fourth rotating mechanism 134k are hinged structures, and the folding mode of the structures is similar to that of the unmanned aerial vehicle shown in fig. 5.

In another embodiment of the present invention shown in fig. 15, the rotating mechanisms are divided into a first rotating mechanism 131m, a second rotating mechanism 132m, a third rotating mechanism 133m, and a fourth rotating mechanism 134m, and the rotor tilting device 100 further includes a first adaptor bracket 121m, a second adaptor bracket 122m, and a third adaptor bracket 123 m. The first transfer bracket 121m is rotatably connected to the body 800 by the first rotating mechanism 131 m; the second adaptor bracket 122m is rotatably connected to the first adaptor bracket 121m by a second rotating mechanism 132 m; the third adapter bracket 123m is rotatably connected to the second adapter bracket 122m through the third rotating mechanism 133m, wherein one of the rotor brackets 500 is fixedly connected to the second adapter bracket 122 m; the other rotor mount 500 is pivotally attached to the third adaptor mount 123m via a fourth rotation mechanism 134 m. The first rotating mechanism 131m and the third rotating mechanism 133m are shafting structures and are connected with the rotating controller 300, and the second rotating mechanism 132m and the fourth rotating mechanism 134m are hinged structures, and the folding mode of the structures is similar to that of the unmanned aerial vehicle shown in fig. 5. Further, the modified structure of the embodiment is as follows: the fourth rotating mechanism 134m is changed to a shafting structure and connected to the rotating controller 300, and the third rotating mechanism 133m is changed to a hinge structure as another embodiment of the present invention.

In summary, the above-described rotor tilter assemblies 100 have in common: comprising two rotary mechanisms with rotary controls 300 attached to them, the tilt of the two rotors 210 about the Y axis can be independently controlled.

Four groups of examples:

three preceding group embodiment unmanned aerial vehicle do acceleration and deceleration flight motion along unmanned aerial vehicle's Y axial, perhaps when the Y axial has wind, fuselage 800 need vert round the X axle, then drive rotor 210 and vert and produce the axial thrust of Y, realize the axial motion control of unmanned aerial vehicle Y, fuselage 800 need vert round the X axle time occasionally when consequently three preceding group embodiment unmanned aerial vehicle flies, and the fuselage is unstable round the X axle. However, it should be noted that the unmanned aerial vehicle of the first three groups of embodiments has smooth rotational motion around the Y axis because the motion control of the X axis is realized by tilting the rotor, the airframe 800 does not need to tilt, and in addition, the torque generated by the airframe stabilizer 600 can counteract the external force action in the X axis, so as to further improve the smoothness of the airframe around the Y axis.

This group of embodiments provides a set of many rotor unmanned aerial vehicle that is the fuselage steady round the X axle also, and this kind of unmanned aerial vehicle's characteristics are: the motion control of the Y-axis also adopts the tilt rotor technology. The drone shown in fig. 16 is a specific embodiment of the drone of this group of embodiments, and includes a fuselage 800, two rotor supports 500, two lift devices 200, and a rotor tilting device 100. Wherein, lift device 200, rotor support 500 are the same with the unmanned aerial vehicle that fig. 7 shows, no longer describe. The drone shown in fig. 16 further includes a fuselage stabilizer 600, which is the same as the drone shown in fig. 1 and will not be described again.

The rotating mechanisms are divided into a first rotating mechanism 131n, a second rotating mechanism 132n, and a third rotating mechanism 133n, and the rotor tilting device 100 further includes a first adaptor bracket 121n and a second adaptor bracket 122 n. The first adaptor bracket 121n is rotatably connected to the fuselage 800 by a first rotating mechanism 131n, the second adaptor bracket 122n is rotatably connected to the first adaptor bracket 121n by a second rotating mechanism 132n, one of the rotor brackets 500 is fixedly connected to the second adaptor bracket 122n, and the other rotor bracket 500 is rotatably connected to the second adaptor bracket 122n by a third rotating mechanism 133 n. The first rotating mechanism 131n and the second rotating mechanism 132n are shafting structures and are connected with a rotating controller 300. Third rotary mechanism 133n is hinge structure, and first rotary mechanism 131n and third rotary mechanism 133n realize unmanned aerial vehicle's folding recovery.

The flight control principle of the drone shown in fig. 16: the motion control, the lifting control and the yawing motion control in the X axial direction are the same as those of the unmanned aerial vehicle shown in the figure 7, and the difference is that the motion control in the Y axial direction is realized by the following control method: the rotor bracket 500 can be controlled to rotate around the rotation axis of the first rotation mechanism 131n by the first rotation mechanism 131n, and it is noted that the rotation axis of the first rotation mechanism 131n is parallel to the X axis of the drone, so that the rotor 210 can be controlled to rotate by the first rotation mechanism 131n to generate thrust in the Y axis direction, thereby realizing motion control in the Y axis direction.

In this embodiment, the lift difference generated by the two lift devices 200 is no longer used for controlling the motion of the unmanned aerial vehicle in the Y axis direction, but can be used for controlling the tilting motion of the fuselage 800 around the X axis due to the external force, controlling the stability of the rotational motion of the fuselage around the X axis, and the control method thereof is as follows: according to the tilting motion condition of the machine body 800 around the X axis, the lift difference generated by the two lift devices 200 is adjusted to generate a moment for reversely rotating the machine body 800, so that the stability of the rotating motion of the machine body 800 around the X axis is maintained.

It is noted that the first rotating mechanism 131n of the drone shown in fig. 16 is also used for folding and retrieving the drone, and the folding manner is the same as that of the drone shown in fig. 5.

Further, the unmanned aerial vehicle of this group of embodiments has other implementation:

in another embodiment of the present invention, for the drones using the rotor tilting device 100 shown in fig. 1, 3, 8, 9, 10 and the modified structure thereof in the first three embodiments, the airframe 800 is modified to include a first airframe 830, a second airframe 840 and a manipulating rotating mechanism 850 (shown in fig. 17), the manipulating rotating mechanism 850 is connected with the rotating controller 300, the second airframe 840 is rotatably connected to the first airframe 830 through the manipulating rotating mechanism 850, and the rotor tilting device 100 is mounted on the second airframe 840, so that these drones can be modified to be drones with smooth rotational movement around the X axis. For example, the drone shown in fig. 17 is an improvement of the drone shown in fig. 1, and a first body 830, a second body 840 and a manipulation rotating mechanism 850 are additionally arranged on a horn 820 of the drone, the manipulation rotating mechanism 850 is connected with the rotation controller 300, and the manipulation rotating mechanism 850 is used for controlling the tilting of the rotor 210 and controlling the movement of the drone in the Y-axis direction. It will be appreciated that the above modification is equivalent to adding a rotary mechanism to rotor tilter apparatus 100 for controlling the tilting of rotor 210. It should be noted that the drone shown in fig. 17 is very similar to the drone shown in fig. 16, except that the rotating mechanism 131n in fig. 16 is used for folding in addition to the tilt angle control of the rotor 210, while the rotating mechanism 850 in the corresponding position in fig. 17 is used for controlling the tilt angle of the rotor 210, which is one more rotating mechanism than the drone shown in fig. 16 for folding, the folding effect of the drone shown in fig. 17 is similar to that of the drone shown in fig. 2, and the folding effect of the drone shown in fig. 16 is similar to that of the drone shown in fig. 5, and it can be seen that the drone obtained by using the above improved method has better folding effect.

The rotor tilter apparatus 100 of the drone shown in fig. 16 is actually a modification of the rotor tilter apparatus 100 of the drone shown in fig. 4, namely, the first rotating mechanism 131c of the drone shown in fig. 4 is changed into a shafting structure and connected to the rotating controller 300. Similarly, in other embodiments of the present invention, the unmanned aerial vehicle according to this group of embodiments may be implemented by changing the first rotating mechanisms (131h, 131i, 131j) of the rotor tilting devices and their modified structures shown in fig. 11 to 13 to be in a shaft system structure and providing the rotation controller 300, and changing the second rotating mechanisms (132d, 132k, 132m) of the rotor tilting devices and their modified structures shown in fig. 6, 14, and 15 to be in a shaft system structure and providing the rotation controller 300. It should be noted that, according to the three groups of embodiments, if the improved structure of the rotor tilting device shown in fig. 11-15 is adopted, the unmanned aerial vehicle does not need to be provided with the yaw controller 700, and the yaw control can be realized by using the thrust of the tilting rotor 210.

In another embodiment of the present invention, if the rotor tilting device 100 of the drone is an improved structure using fig. 6, 14 and 15 and the modified structure thereof described in the previous paragraph, the folding effect of the drone can be further improved. The improved method comprises the following steps: the second adapter bracket (122d, 122k, 122m) of rotor tilter apparatus 100 is replaced with two sub-adapter brackets, and the two sub-adapter brackets are rotatably connected and rotated by another rotating mechanism to realize folding or unfolding. For example, fig. 18 shows a structure which is a further modification of the modified structure corresponding to fig. 15, and in fig. 18, the modified method described in the paragraph above the second rotating mechanism 132m is modified to be a shafting structure and provided with a rotating controller 300; the improved method further changes the second transit bracket 122m to include two sub-transit brackets (122o1, 122o2) and a rotating mechanism 122o3, and the sub-transit bracket 122o1 and the sub-transit bracket 122o2 are rotatably connected through the rotating mechanism 122o3, so that the improved purpose is to add a rotating mechanism 122o3 to improve the folding manner, obtain the folding effect similar to the unmanned aerial vehicle shown in fig. 2, and the second rotating mechanism 132m with the improved structure is used for the tilt angle control of the rotor 210 and is not used for folding. Likewise, the second adaptor bracket 122d of FIG. 6 and the second adaptor bracket 122k of FIG. 14 may be modified in the manner described above and achieve the same improvements. It is to be appreciated that the sub-adapter bracket 122o1 of fig. 18 may be embodied in combination with the rotor bracket 500, i.e., the rotor bracket 500 is directly rotatably coupled to the sub-adapter bracket 122o2 via the rotation mechanism 122o 3.

It is worth noting that the drone in the four groups of embodiments described above, according to the orientation of the rotation axis, contains rotating mechanisms clearly divided into two groups: the rotation axis of one set of rotating mechanism is parallel with the Y axis of the unmanned aerial vehicle, and the rotation axis of the other set of rotating mechanism is parallel with the X axis of the unmanned aerial vehicle. The rotation axes of the two groups of rotating mechanisms are perpendicular to each other. It is noted that this regular structure is advantageous to simplify the design of the flight controller, is a preferred design, and in practice other asymmetric layouts are possible in principle.

It can be understood that, in the above embodiments, the rotating mechanism adopting the hinge structure may be changed into a shafting structure and provided with the rotation controller 300, so as to realize the electric folding and recovery of the drone or to assist in controlling the inclination angle of the rotor 210.

In another embodiment of the present invention, the rotation mechanism of the unmanned aerial vehicle of the present invention further comprises a limiting mechanism, wherein the limiting mechanism limits the rotation range of the rotor bracket 500; in addition, the rotary mechanism of the hinge structure is also provided with a locking mechanism that can lock the rotor bracket 500 in the deployed position.

In another embodiment of the present invention, referring to fig. 1 and fig. 2, as a specific implementation of the foldable multi-rotor drone provided by the present invention, a fuselage 800 of the drone is a structure including a fuselage main body 810 and a horn 820 extending from one end thereof, and the shape of the fuselage is "L" shaped. In another embodiment of the present invention, two arms 820 respectively extend from two ends of the main body 810 of the airframe, the airframe 800 is in a "U" shape, and the two arms 820 are used to support the lift device 200, so that the supporting force is more balanced, and the unmanned aerial vehicle is suitable for a larger unmanned aerial vehicle. The fuselage of the "L" and "U" configurations enclose a space within which the lift device 200, the rotor support 500, and the rotor wing guard frame 400 may be folded and retracted as a unit.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. Collapsible many rotor unmanned aerial vehicle, its characterized in that includes:

a fuselage (800), the fuselage (800) comprising a fuselage body (810) and a horn (820), the horn (820) being connected to the fuselage body (810);

two rotor supports (500);

two lift devices (200) respectively mounted to the two rotor supports (500), each lift device (200) comprising one or more rotors (210) arranged in a stack; and

the rotor tilting device (100) is mounted at one end of the horn (820) far away from the fuselage main body (810), the rotor tilting device (100) comprises at least three rotating mechanisms, and two rotor brackets (500) are connected to the rotating mechanisms and are folded or unfolded through the rotation of the rotating mechanisms; wherein at least one of the rotating mechanisms is connected with a rotating controller (300) for controlling the rotating mechanism to rotate, and the rotating controller (300) controls the rotating mechanism to rotate so as to control the inclination angle of the rotor wing (210);

the rotor wing protection frame (400) is detachably or fixedly installed on the rotor wing bracket (500), the rotor wing protection frame (400) is of a hollow structure, the rotor wing (210) is arranged inside the rotor wing protection frame (400), and the rotor wing protection frame (400) is used for protecting the rotor wing (210);

when the foldable multi-rotor unmanned aerial vehicle is folded and recycled, one end faces of the two rotor wing protection frames (400) are arranged close to each other, so that the foldable multi-rotor unmanned aerial vehicle can be folded and recycled; the lifting device (200), the rotor wing protective frame (400) and the rotor wing bracket (500) are placed into a space surrounded by the fuselage (800) through the rotation of the rotating mechanism so as to realize the folding and the recovery of the foldable multi-rotor unmanned aerial vehicle;

when the foldable multi-rotor unmanned aerial vehicle flies, the fuselage main body (810) is located below the rotor (210).

2. The foldable multi-rotor drone of claim 1, further comprising a yaw controller (700), the yaw controller (700) outputting a moment that causes the foldable multi-rotor drone to produce yaw motion for yaw motion control of the foldable multi-rotor drone.

3. The foldable multi-rotor drone of claim 1, wherein the rotation mechanisms are divided into a first rotation mechanism (131 a; 131 b), a second rotation mechanism (132 a; 132 b) and a third rotation mechanism (133 a; 133 b), the rotor tilter device (100) further comprising a first interface bracket (121 a; 121 b); the first transfer support (121 a; 121 b) is rotatably connected to the machine body (800) through the first rotating mechanism (131 a; 131 b); the two rotor supports (500) are respectively connected with the first adapter support (121 a; 121 b) in a rotating way through the second rotating mechanism (132 a; 132 b) and the third rotating mechanism (133 a; 133 b); the first rotating mechanism (131 a; 131 b) is connected with a rotating controller (300);

or the rotating mechanisms are divided into a first rotating mechanism (131 e; 131 f), a second rotating mechanism (132 e; 132f), a third rotating mechanism (133 e; 133 f) and a fourth rotating mechanism (134 e; 134f), and the rotor tilting device (100) further comprises a first adapter bracket (121 e; 121 f) and a second adapter bracket (122 e; 122 f); the first transfer bracket (121 e; 121 f) is rotationally connected to the machine body (800) through the first rotating mechanism (131 e; 131 f); the second adapter bracket (122 e; 122 f) is rotatably connected to the machine body (800) through the second rotating mechanism (132 e; 132 f); one of the rotor supports (500) is rotatably connected to the first adapter support (121 e; 121 f) through the third rotating mechanism (133 e; 133 f), and the other rotor support (500) is rotatably connected to the second adapter support (122 e; 122 f) through the fourth rotating mechanism (134 e; 134 f); the first rotating mechanism (131 e; 131 f) or the third rotating mechanism (133 e; 133 f) is connected with a rotating controller (300); the second rotating mechanism (132 e; 132f) or the fourth rotating mechanism (134 e; 134f) is connected with a rotating controller (300);

or the rotating mechanisms are divided into a first rotating mechanism (131 g), a second rotating mechanism (132 g), a third rotating mechanism (133 g) and a fourth rotating mechanism (134 g), and the rotor tilting device (100) further comprises a first adapter bracket (121 g) and a second adapter bracket (122 g); the first transfer bracket (121 g) is rotatably connected to the machine body (800) through the first rotating mechanism (131 g); the second adapter bracket (122 g) is rotatably connected to the first adapter bracket (121 g) through the third rotating mechanism (133 g); one of the rotor supports (500) is rotatably connected to the first adapter support (121 g) through the second rotating mechanism (132 g), and the other rotor support (500) is rotatably connected to the second adapter support (122 g) through the fourth rotating mechanism (134 g); the first rotating mechanism (131 g) is connected with a rotation controller (300), and the third rotating mechanism (133 g) or the fourth rotating mechanism (134 g) is connected with the rotation controller (300).

4. The foldable multi-rotor drone of claim 3, wherein the end of the horn (820) remote from the fuselage body (810) comprises a first body (830) and a second body (840), the second body (840) being rotatably connected to the first body (830) by means of a manoeuvring rotation mechanism (850), the rotor tilting device (100) being mounted to the second body (840), the manoeuvring rotation mechanism (850) being connected to a rotation controller (300).

5. The foldable multi-rotor drone of claim 1, wherein the rotation mechanisms are divided into a first rotation mechanism (131 c), a second rotation mechanism (132 c), a third rotation mechanism (133 c), the rotor tilter apparatus (100) further comprising a first adaptor bracket (121 c), a second adaptor bracket (122 c); the first transfer bracket (121 c) is rotatably connected to the machine body (800) through the first rotating mechanism (131 c); the second adapter bracket (122 c) is rotatably connected to the first adapter bracket (121 c) through the second rotating mechanism (132 c); one of the rotor supports (500) is fixedly connected with the second adapter support (122 c), and the other rotor support (500) is rotatably connected with the second adapter support (122 c) through the third rotating mechanism (133 c); a rotation controller (300) is connected to the second rotation mechanism (132 c);

or the rotating mechanisms are divided into a first rotating mechanism (131 h), a second rotating mechanism (132 h), a third rotating mechanism (133 h) and a fourth rotating mechanism (134 h), and the rotor tilting device (100) further comprises a first adapter bracket (121 h), a second adapter bracket (122 h) and a third adapter bracket (123 h); the first transfer support (121 h) is rotatably connected to the machine body (800) through the first rotating mechanism (131 h); the second adapter bracket (122 h) is rotatably connected to the first adapter bracket (121 h) through the second rotating mechanism (132 h); the third adapter bracket (123 h) is rotatably connected to the second adapter bracket (122 h) through the third rotating mechanism (133 h); one of the rotor supports (500) is fixedly connected with the second adapter support (122 h), and the other rotor support (500) is rotatably connected with the third adapter support (123 h) through the fourth rotating mechanism (134 h); the second rotating mechanism (132 h) is connected with a rotating controller (300); the third rotating mechanism (133 h) or the fourth rotating mechanism (134 h) is connected with a rotating controller (300);

or the rotating mechanisms are divided into a first rotating mechanism (131 i), a second rotating mechanism (132 i), a third rotating mechanism (133 i) and a fourth rotating mechanism (134 i), and the rotor tilting device (100) further comprises a first adapter bracket (121 i) and a second adapter bracket (122 i); the first transfer bracket (121 i) is rotatably connected to the machine body (800) through the first rotating mechanism (131 i); the second adapter bracket (122 i) is rotatably connected to the first adapter bracket (121 i) through the second rotating mechanism (132 i); the two rotor supports (500) are respectively and rotatably connected to the second adapter support (122 i) through the third rotating mechanism (133 i) and the fourth rotating mechanism (134 i); a rotation controller (300) is connected to the second rotation mechanism (132 i); a rotation controller (300) is connected to the third rotation mechanism (133 i) or the fourth rotation mechanism (134 i);

or the rotating mechanisms are divided into a first rotating mechanism (131 j), a second rotating mechanism (132 j), a third rotating mechanism (133 j) and a fourth rotating mechanism (134 j), and the rotor tilting device (100) further comprises a first adapter bracket (121 j) and a second adapter bracket (122 j); the first transfer support (121 j) is rotatably connected to the machine body (800) through the first rotating mechanism (131 j); the second adapter bracket (122 j) is rotatably connected to the first adapter bracket (121 j) through the second rotating mechanism (132 j); one of the rotor supports (500) is rotatably connected to the second adapter support (122 j) through the third rotating mechanism (133 j), and the other rotor support (500) is rotatably connected to the first adapter support (121 j) through the fourth rotating mechanism (134 j); the second rotation mechanism (132 j) is connected to a rotation controller (300), and the fourth rotation mechanism (134 j) is connected to the rotation controller (300).

6. The foldable multi-rotor drone according to claim 5, characterized in that the first rotation mechanism (131 c; 131 h; 131 i; 131j) is connected with a rotation controller (300).

7. The foldable multi-rotor drone of claim 1, wherein the rotation mechanisms are divided into a first rotation mechanism (131 d), a second rotation mechanism (132 d) and a third rotation mechanism (133 d), the rotor tilter apparatus (100) further comprising a first adaptor bracket (121 d), a second adaptor bracket (122 d); the first transfer bracket (121 d) is rotatably connected to the machine body (800) through the first rotating mechanism (131 d); the second adapter bracket (122 d) is rotatably connected to the first adapter bracket (121 d) through the second rotating mechanism (132 d); one of the rotor supports (500) is fixedly connected with the second adapter support (122 d), and the other rotor support (500) is rotatably connected with the second adapter support (122 d) through the third rotating mechanism (133 d); a rotation controller (300) is connected to the first rotation mechanism (131 d);

or the rotating mechanisms are divided into a first rotating mechanism (131 k), a second rotating mechanism (132 k), a third rotating mechanism (133 k) and a fourth rotating mechanism (134 k), and the rotor tilting device (100) further comprises a first adapter bracket (121 k) and a second adapter bracket (122 k); the first transfer support (121 k) is rotatably connected to the machine body (800) through the first rotating mechanism (131 k); the second adapter bracket (122 k) is rotatably connected to the first adapter bracket (121 k) through the second rotating mechanism (132 k); the two rotor supports (500) are respectively and rotatably connected to the second adapter support (122 k) through a third rotating mechanism (133 k) and a fourth rotating mechanism (134 k); a rotation controller (300) is connected to the first rotation mechanism (131 k); a rotation controller (300) is connected to the third rotation mechanism (133 k) or the fourth rotation mechanism (134 k);

or the rotating mechanisms are divided into a first rotating mechanism (131 m), a second rotating mechanism (132 m), a third rotating mechanism (133 m) and a fourth rotating mechanism (134 m), and the rotor tilting device (100) further comprises a first adapter bracket (121 m), a second adapter bracket (122 m) and a third adapter bracket (123 m); the first transfer bracket (121 m) is rotatably connected to the machine body (800) through the first rotating mechanism (131 m); the second adapter bracket (122 m) is rotatably connected to the first adapter bracket (121 m) through the second rotating mechanism (132 m); the third adapter bracket (123 m) is rotatably connected to the second adapter bracket (122 m) through a third rotating mechanism (133 m); one of the rotor supports (500) is fixedly connected with the second adapter support (122 m), and the other rotor support (500) is rotatably connected with the third adapter support (123 m) through the fourth rotating mechanism (134 m); a rotation controller (300) is connected to the first rotation mechanism (131 m); the third rotation mechanism (133 m) or the fourth rotation mechanism (134 m) is connected with a rotation controller (300).

8. The foldable multi-rotor drone according to claim 7, characterized in that the second rotation mechanism (132 d; 132 k; 132m) is connected with a rotation controller (300).

9. The foldable multi-rotor drone of claim 8, wherein the second transfer rack (122 d; 122 k; 122m) is replaced by two sub-transfer racks (122o1, 122o2), and the two sub-transfer racks (122o1, 122o2) are rotatably connected and rotated by a rotation mechanism (122o 3) to fold or unfold.

10. The foldable multi-rotor drone according to any one of claims 1 to 9, further comprising a fuselage stabilizer (600), the fuselage stabilizer (600) outputting a moment that produces a tilting movement of the fuselage (800) for maintaining the smoothness of the fuselage (800).

11. The foldable multi-rotor drone of claim 10, wherein at least one of the fuselage stabilizers (600) comprises a stabilizing guide vane (610) and a stabilizing servo controller, the stabilizing guide vane (610) is installed below the rotor (210), a moment for tilting the fuselage (800) is generated by using a downwash of the rotor (210), and the stabilizing servo controller controls the stabilizing guide vane (610) to rotate, thereby controlling the magnitude of the moment generated by the stabilizing guide vane (610).

12. The foldable multi-rotor drone of claim 11, characterized in that one surface of the stabilizing guide vane (610) is facing the downwash of the rotor (210), the pressure created on this surface by the downwash of the rotor (210) generating a moment that generates the tilting movement of the fuselage (800).

13. The foldable multi-rotor drone of claim 10, wherein at least one of the fuselage stabilizers (600) is a fan, the fan is mounted on the fuselage (800), the thrust of the fan generates a torque that causes the fuselage (800) to tilt, and the torque is adjusted by controlling the fan speed.

14. The foldable multi-rotor drone according to any one of claims 1 to 9, characterized in that the fuselage (800) is of L-shaped or U-shaped configuration.