CN115489729A - Rotor assembly, rotor assembly storage method and unmanned aerial vehicle - Google Patents
Rotor assembly, rotor assembly storage method and unmanned aerial vehicle Download PDFInfo
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- CN115489729A CN115489729A CN202211212830.1A CN202211212830A CN115489729A CN 115489729 A CN115489729 A CN 115489729A CN 202211212830 A CN202211212830 A CN 202211212830A CN 115489729 A CN115489729 A CN 115489729A
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- horn
- paddle
- blade
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- aerial vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/46—Blades
- B64C27/473—Constructional features
- B64C27/50—Blades foldable to facilitate stowage of aircraft
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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
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a rotor wing assembly, a rotor wing assembly storage method and an unmanned aerial vehicle, wherein the rotor wing assembly storage method comprises the following steps: one end of the arm folding unit is connected with the unmanned aerial vehicle body; a horn connected to the other end of the horn folding unit; the paddle motor mounting base is connected with the free end of the horn; a paddle drive motor mounted to the paddle motor mount; the paddle is connected with the rotation output end of the paddle driving motor; the horn folding unit is used for driving the horn to fold so that the horn is in a folded state, and driving the horn to unfold so that the horn is in an unfolded state. The invention can realize the automatic and orderly folding, storage and unfolding of the horn and the paddle through the horn folding unit and the paddle storage unit, thereby solving the problem that the common folding unmanned aerial vehicle needs manual folding.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a rotor assembly, a rotor assembly storage method and an unmanned aerial vehicle.
Background
Four rotor unmanned aerial vehicle on the market at present are mostly the horn and the paddle can not be folded or need manual folding unmanned aerial vehicle, consequently, when above-mentioned unmanned aerial vehicle uses on equipment such as the aircraft nest, unmanned aerial vehicle itself need occupy a large amount of spaces, leads to shutdown device volumes such as the aircraft nest great, even can be through manual folding, but it can bring extra cost of labor and work load, and a plurality of inconvenience that can bring of people are a plurality of.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a rotor wing assembly, a rotor wing assembly storage method and an unmanned aerial vehicle, which can realize automatic and orderly folding, storage and unfolding of a horn and blades through a horn folding unit and a blade storage unit, thereby solving the problem that a common folding unmanned aerial vehicle needs manual folding.
In order to achieve the purpose, the invention provides the following technical scheme:
a rotor assembly is provided, comprising:
one end of the arm folding unit is connected with the unmanned aerial vehicle body;
a horn connected to the other end of the horn folding unit;
the paddle motor mounting base is connected with the free end of the horn;
a paddle drive motor mounted to the paddle motor mount;
the paddle is connected with the rotation output end of the paddle driving motor;
the horn folding unit is used for driving the horn to fold so that the horn is in a folded state, and driving the horn to unfold so that the horn is in an unfolded state.
Preferably, the horn folding unit includes:
the body connecting seat is connected with the unmanned aerial vehicle body and is of a hollow structure;
the push rod is partially/completely arranged inside the connecting seat;
the linear driving assembly is connected with the unmanned aerial vehicle body and/or the connecting seat, and a power output end of the linear driving assembly is connected with one end of the push rod;
a moving seat, a part/whole of which is positioned inside the connecting seat and connected with the other end of the push rod 12;
a horn connecting seat connected to an inner wall surface of the horn;
the two ends of the articulated piece are respectively articulated with the movable seat and the machine arm connecting seat correspondingly;
the linear driving component automatically drives the push rod and the movable seat to do linear motion in the machine body connecting seat under the control of the control system so as to realize the unfolding/folding of the machine arm.
Preferably, when the horn is in fold condition, the contained angle that becomes between the central axis of horn and the central axis of unmanned aerial vehicle organism is 0-60, when the horn is in fold condition, the contained angle that becomes between the central axis of horn and the central axis of unmanned aerial vehicle organism is 70-90.
Preferably, the paddle motor mounting base and the horn are integrally formed.
Preferably, the rotor assembly further comprises:
and a blade housing unit for making the two blades in a deployed/housed state by cooperation with the blade driving motor.
Preferably, the blade housing unit includes:
the gear lever driving component is connected with the outer peripheral surface of the machine arm and/or the machine arm folding unit;
the paddle stop lever is connected with the movable end of the stop lever driving component;
the gear lever driving assembly drives the paddle gear lever to do linear motion to extend into a gap formed between the two paddles and be located on a rotating path of the two paddles, the paddle driving motor drives the two paddles to rotate again, so that the two paddles are in an unfolding/storage state, and after the two paddles are in the unfolding/storage state, the gear lever driving assembly drives the paddle gear lever to do linear motion to be separated from the gap.
Preferably, when the two paddles are in the unfolding state, the included angle formed by the two paddles is 150-180 degrees, and when the two paddles are in the folding state, the included angle formed by the two paddles is 0-15 degrees.
Preferably, the blade housing unit further includes:
the angle sensor is connected with the blade driving motor and used for acquiring the rotation angle information of the blade driving motor; and the angle closed-loop controller is connected with the angle sensor and is used for controlling the blade driving motor to rotate by a preset angle according to the rotation angle information of the blade driving motor.
Also provided is a method of storing the rotor assembly, comprising the steps of:
firstly, controlling the horn to be in an unfolded state, and then controlling the paddle to be in an unfolded state;
or the machine arm is controlled to be in a folded state firstly, and then the blade is controlled to be in a storage state.
Still provide an unmanned aerial vehicle, it includes unmanned aerial vehicle organism and above-mentioned rotor subassembly, just the rotor subassembly is connected the unmanned aerial vehicle organism.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the automatic and orderly folding, storage and unfolding of the horn and the blades can be realized through the horn folding unit and the blade storage unit, the structural design of the blade storage unit and the horn folding unit is simple, and the control logic is easy to realize, so that the problem that the common folding unmanned aerial vehicle needs manual folding is solved.
Drawings
Fig. 1 is a state diagram of the unmanned aerial vehicle when the arm and the blade are both unfolded.
Fig. 2 is an assembly view of the folding unit of the horn and the horn according to the present invention.
Fig. 3 is a state diagram of the unmanned aerial vehicle when the arm and the blade are both folded.
Fig. 4 is an overall configuration diagram of the arm folding unit according to the present invention.
Fig. 5 is an overall structural view of the blade housing unit of the present invention.
Fig. 6 is a schematic view of the installation of the angle sensor of the present invention.
FIG. 7 is a schematic view of the steps of the present invention for blade deployment.
Fig. 8 is a schematic view of the steps of blade folding in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
as shown in fig. 1, the present embodiment provides a rotor assembly of a drone, comprising:
one end of the arm folding unit 1 is connected with the unmanned aerial vehicle body 100;
a horn 2 connected to the other end of the horn folding unit 1, the horn 2 having an inner installation cavity 21;
the paddle motor mounting base 3 is connected with the free end of the horn 2 and can be integrally formed with the horn 2;
a paddle drive motor 4 mounted to the paddle motor mount 3;
and a paddle 5 connected to a rotation output end of the paddle drive motor 4.
The horn folding unit 1 is used for driving the horn 2 to fold, so that the horn 2 is in a folded state (as shown in fig. 3), and driving the horn 2 to unfold, so that the horn 2 is in an unfolded state (as shown in fig. 1);
and when the horn 2 is in folded state, the included angle that becomes between the central axis X of horn 2 and the central axis Y of unmanned aerial vehicle organism 100 is 0-60, when the horn 2 is in folded state, the included angle that becomes between the central axis X of horn 2 and the central axis Y of unmanned aerial vehicle organism 100 is 70-90.
Further, as shown in fig. 4 to 5, the horn folding unit 1 includes:
the body connecting seat 11 is connected with the unmanned aerial vehicle body 100 and is of a hollow structure;
a push rod 12, which is partially/completely arranged inside the connecting seat 11 and is coaxially arranged with the connecting seat 11;
a linear driving component 13 (such as a servo motor) connected to the unmanned aerial vehicle body 100 and/or the connecting seat 11, wherein a power output end of the linear driving component 13 is connected to one end of the push rod 12;
a moving seat 14, which is partially/entirely located inside the connecting seat 11 and is connected to the other end of the push rod 12;
a horn connecting seat 15 connected to an inner wall surface of the horn 2;
a hinge element 16, both ends of which are hinged with the moving seat 14 and the arm connecting seat 15 correspondingly;
Specifically, as shown in fig. 2 and 4, when the power output end of the linear driving assembly 13 moves towards the unmanned aerial vehicle body 100 along the solid arrow direction, the linear driving assembly 13 drives the push rod 12 to move towards the unmanned aerial vehicle body 100, and simultaneously drives the moving seat 14 to enter the inside of the body connecting seat 11 in the same direction, and to linearly move inside the body connecting seat 11, so as to pull the hinge 16 to rotate, and further drive the arm 2 to rotate through the rotation of the hinge 16 until the included angle formed between the central axis X of the arm 2 and the central axis Y of the unmanned aerial vehicle body 100 is 70-90 °, and at this time, the arm 2 is in the unfolded state (i.e., the state shown in fig. 2);
on the contrary, when the power take off end of linear drive assembly 13 kept away from unmanned aerial vehicle organism 100 motion along hollow arrow direction, linear drive assembly 13 drove push rod 12 and kept away from unmanned aerial vehicle organism 100 motion, and the drive simultaneously removes seat 14 along same direction linear motion, and until whole/part is located organism connecting seat 11 outsidely to pulling articulated elements 16 rotates, further drives horn 2 through the rotation of articulated elements 16 and rotates, and the contained angle that becomes between the central axis X of horn 2 and the central axis Y of unmanned aerial vehicle organism 100 is 0-60, and horn 2 is in fold condition (the state shown in fig. 4) this moment.
From this, can realize the expansion and the folding of horn through the folding unit of horn in this embodiment, and this folding unit of horn structural design is simple, and can realize the automatic folding of horn through sharp drive assembly, has solved the problem that current unmanned aerial vehicle user needs artificial manual folding horn for unmanned aerial vehicle is more intelligent, automatic, when product applications such as at the nest, air park go up unmanned aerial vehicle, can practice thrift volume and space more simultaneously.
Example 2:
this embodiment differs from embodiment 1 in that the rotor assembly of the drone further comprises:
the blade storage unit is used for enabling the two blades 5 to be in a deployed/stored state through cooperation with the blade driving motor 4, when the two blades 5 are in the deployed state, an included angle formed by the two blades 5 is 150-180 degrees (preferably 165-180 degrees, particularly preferably 170-180 degrees), when the two blades 5 are in the stored state, the included angle formed by the two blades 5 is 0-15 degrees (preferably 0.5-10 degrees, particularly preferably 1-5 degrees), and when the two blades 5 are in the stored state, a gap 200 is formed between the two blades 5.
As shown in fig. 2, the included angle formed by the two blades 5 is an included angle formed by a connecting line between the midpoint 41 of the end portion of the rotation output end of the blade driving motor 4 and the tip ends 51 of the two blades 5.
Specifically, the blade housing unit includes:
a lever drive unit 6 (e.g., a motor) connected to an outer peripheral surface of the horn 2 and/or the horn folding unit 1;
a blade stop lever 7 connected to the movable end of the stop lever drive assembly 6;
the angle sensor 8 is connected with the blade driving motor 4 and used for acquiring the rotation angle information of the blade driving motor 4;
and the angle closed-loop controller is connected with the angle sensor 8 and is used for controlling the blade driving motor 4 to rotate by a preset angle according to the rotation angle information of the blade driving motor 4.
The gear lever driving component 6 drives the paddle gear lever 7 to move linearly so as to extend into the gap 200 and be located on a rotating path of the two paddles, the paddle driving motor 4 drives the two paddles to rotate again, so that the two paddles 5 are in an unfolding/storage state, and after the two paddles 5 are in the unfolding/storage state, the gear lever driving component 6 drives the paddle gear lever 7 to move linearly so as to be separated from the gap 200.
Specifically, as shown in fig. 7, the lever driving assembly 6 drives the blade lever 7 to move linearly to extend into the gap 200, and the blade driving motor 4 drives the two blades to rotate, so that the process of the two blades 5 in the unfolded state includes the following steps:
s1, in an initial unfolding state, the gear lever driving component 6 is started to drive the blade gear lever 7 to generate linear motion so as to extend into a gap 200 between two blades (namely a first blade 52 and a second blade 53) and be positioned on a rotating path of the two blades; in the initial state of deployment, the angle formed by the two paddles 5 is 0-15 ° (preferably 0.5-10 °, particularly preferably 1-5 °);
s2, the paddle driving motor 4 is started to drive the two paddles to synchronously rotate for a first angle along a first direction (namely one of a clockwise direction and a counterclockwise direction, in the embodiment, the clockwise direction);
in the rotating process, one blade (namely, the first blade 52) is in contact with the blade blocking rod 7, so that the blade blocking rod 7 cannot rotate continuously, the rotation of the other blade (namely, the second blade 53) is not influenced by the blocking action of the blade blocking rod 7 all the time, and finally, an included angle is formed between the two blades;
wherein the first angle satisfies a condition: the first angle is more than or equal to 10 degrees and less than or equal to 120 degrees, preferably, the first angle is more than or equal to 30 degrees and less than or equal to 90 degrees;
s3, the paddle driving motor 4 drives the two paddles to synchronously rotate by a second angle along a second direction (namely, the other one of the clockwise direction and the anticlockwise direction in the embodiment);
in the rotating process, the rotation of one blade (namely, the first blade 52) is not influenced by the blocking effect of the blade blocking rod 7 all the time, and the other blade (namely, the second blade 53) is in contact with the blade blocking rod 7, so that the two blades cannot rotate continuously due to the blocking effect of the blade blocking rod 7, and finally, the two blades form another included angle;
wherein the second angle satisfies a condition: the second angle is more than or equal to 120 degrees and less than or equal to 180 degrees, and preferably, the second angle is more than or equal to 125 degrees and less than or equal to 175 degrees;
and S4, the gear lever driving component 6 is started to drive the paddle gear lever 7 to generate linear motion, so that the paddle gear lever 7 is completely separated from the gap 200 and is no longer positioned on the rotating path of the two paddles, and at the moment, the two paddles are in an unfolded state after being unfolded.
Further, as shown in fig. 8, the lever driving assembly 6 drives the paddle lever 7 to move linearly to extend into the gap 200, and the paddle driving motor 4 drives the two paddles to rotate, so that the process of the two paddles 5 in the storage state includes the following steps:
s10, in an initial storage state, the lever driving assembly 6 is started to drive the paddle lever 7 to generate a linear motion so as to extend into a gap 200 between two paddles (i.e., the first paddle 52 and the second paddle 53) and be located on a rotation path of the two paddles; in the initial state of the storage, the included angle formed by the two paddles 5 is 150-180 ° (preferably 165-180 °, particularly preferably 170-180 °);
s20, starting the paddle driving motor 4 to drive the two paddles to synchronously rotate for a third angle along a first direction (namely one of clockwise direction and anticlockwise direction, in this embodiment, the clockwise direction);
in the rotating process, one blade (namely, the first blade 52) is in contact with the blade blocking rod 7, so that the blade blocking rod 7 cannot rotate continuously, the rotation of the other blade (namely, the second blade 53) is not influenced by the blocking action of the blade blocking rod 7 all the time, and finally, an included angle is formed between the two blades;
wherein the third angle satisfies a condition: the third angle is more than or equal to 150 degrees and less than or equal to 180 degrees, preferably, the third angle is more than or equal to 165 degrees and less than or equal to 175 degrees;
s30, the paddle driving motor 4 drives the two paddles to synchronously rotate for a fourth angle along a second direction (namely, the other one of the clockwise direction and the counterclockwise direction, in this embodiment, the counterclockwise direction);
in the rotating process, the rotation of one blade (namely, the first blade 52) is not influenced by the blocking action of the blade blocking rod 7 all the time, and the other blade (namely, the second blade 53) is contacted with the blade blocking rod 7, so that the two blades cannot rotate continuously due to the blocking action of the blade blocking rod 7, and finally, the two blades form another included angle;
wherein the fourth angle satisfies a condition: the fourth angle is more than or equal to 300 degrees and less than or equal to 350 degrees, preferably, the fourth angle is more than or equal to 320 degrees and less than or equal to 345 degrees;
and S40, starting the gear lever driving component 6 to drive the paddle gear lever 7 to generate linear motion, so that the paddle gear lever 7 is completely separated from the gap 200 and is no longer positioned on the rotating path of the two paddles, and at the moment, the two paddles are in a storage state after being unfolded.
Further, in the process of unfolding/storing the blade, the rotating angle information of the blade driving motor 4 is acquired in real time through the angle sensor 8 and is sent to the angle closed-loop controller, and the angle closed-loop controller controls the blade driving motor 4 to rotate by a preset angle, such as a first angle, a second angle, a third angle, a fourth angle and the like, according to the rotating angle information of the blade driving motor 4 based on a PID algorithm.
Therefore, the blade storage unit in the embodiment can realize the storage/expansion of the blades only by matching the blade driving motor 4 through the blade gear lever 7, the storage/expansion control logic of the blades is simple, and only two blades need to be synchronously driven to rotate along different directions, so that the storage/expansion control unit is easy to realize.
Example 3:
the present embodiment provides a rotor assembly storing method according to embodiment 1 or 2, including the steps of:
firstly, controlling a machine arm to be in a spreading state, and then controlling a blade to be in the spreading state;
or the machine arm is controlled to be in a folded state firstly, and then the blade is controlled to be in a storage state.
Wherein, controlling the horn to be in the state of expansion earlier, controlling the paddle to be in the state of expansion again includes the following step:
generating a machine arm unfolding control instruction;
the horn folding unit 1 enables the horn 2 to be in the unfolding state according to the horn unfolding control instruction, the process of the horn folding unit is described in the unfolding process of the horn 2 in the embodiment 1, and the horn folding unit does not need to be complained;
after the horn 2 is in the expanded state, generating a paddle expansion control command;
the paddle storage unit controls the paddle to be unfolded according to the paddle unfolding control instruction, the unfolding process of the paddle in the embodiment 2 is referred to, and the operation is not performed again.
Firstly, the control horn is in folded state, and then the control paddle is in the state of accomodating includes the following steps:
generating a folding control command of the machine arm;
the horn folding unit 1 enables the horn 2 to be in a folded state according to the horn folding control command, and the process of the horn folding unit is described in the folding process of the horn 2 in the embodiment 1, and is not required to be complained;
after the horn 2 is in a folded state, a blade housing control instruction is generated;
the blade receiving unit controls blade receiving according to a blade receiving control command, the process of the blade receiving unit is shown in the receiving process of the blade in the embodiment 2, and the blade receiving unit does not need to be used for bearing.
Example 4:
the present embodiment provides a drone, as shown in fig. 1, which includes a drone body 100 and the rotor assembly described in embodiment 1 or 2, and the rotor assembly is connected to the drone body 100.
In conclusion, the invention can realize the automatic and orderly folding, storage and unfolding of the horn and the blades through the horn folding unit and the blade storage unit, the structural design of the blade storage unit and the horn folding unit is simple, and the control logic is easy to realize, so that the problem that the common folding unmanned aerial vehicle needs manual folding is solved, the unmanned aerial vehicle is more intelligent and automatic, and meanwhile, when the unmanned aerial vehicle is used in products such as a nest and an apron, the unmanned aerial vehicle saves volume and space.
It should be noted that the technical features of the above embodiments 1 to 4 can be arbitrarily combined, and the technical solutions obtained by combining the technical features belong to the scope of the present application. And in this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A rotor assembly, comprising:
one end of the arm folding unit is connected with the unmanned aerial vehicle body;
a horn connected to the other end of the horn folding unit;
the paddle motor mounting base is connected with the free end of the machine arm;
a paddle drive motor mounted to the paddle motor mount;
the paddle is connected with the rotation output end of the paddle driving motor;
the horn folding unit is used for driving the horn to fold, so that the horn is in a folded state, and driving the horn to unfold, so that the horn is in an unfolded state.
2. A rotor assembly according to claim 1, wherein the horn collapse unit comprises:
the body connecting seat is connected with the unmanned aerial vehicle body and is of a hollow structure;
a push rod, which is partially/completely arranged inside the connecting seat;
the linear driving assembly is connected with the unmanned aerial vehicle body and/or the connecting seat, and a power output end of the linear driving assembly is connected with one end of the push rod;
a moving seat, a part/whole of which is positioned inside the connecting seat and connected with the other end of the push rod 12;
a horn connecting seat connected to an inner wall surface of the horn;
the two ends of the articulated piece are respectively articulated with the movable seat and the machine arm connecting seat correspondingly;
the linear driving assembly automatically drives the push rod and the moving seat to do linear motion in the machine body connecting seat under the control of the control system so as to realize the unfolding/folding of the machine arm.
3. A rotor assembly according to claim 1, wherein the angle between the central axis of the horn and the central axis of the drone body is 0-60 ° when the horn is in the folded position, and the angle between the central axis of the horn and the central axis of the drone body is 70-90 ° when the horn is in the folded position.
4. The rotor assembly according to claim 2, wherein the blade motor mount is integrally formed with the horn.
5. A rotor assembly according to claim 1, further comprising:
and a blade housing unit for making the two blades in a deployed/housed state by cooperation with the blade driving motor.
6. The rotor assembly according to claim 5, wherein the blade-receiving unit comprises:
the gear lever driving component is connected with the outer peripheral surface of the machine arm and/or the machine arm folding unit;
the paddle stop lever is connected with the movable end of the stop lever driving component;
the gear lever driving assembly drives the paddle gear lever to do linear motion to extend into a gap formed between the two paddles and be located on a rotating path of the two paddles, the paddle driving motor drives the two paddles to rotate again, so that the two paddles are in an unfolding/storage state, and after the two paddles are in the unfolding/storage state, the gear lever driving assembly drives the paddle gear lever to do linear motion to be separated from the gap.
7. A rotor assembly according to claim 5, wherein the angle subtended by the two blades is from 150 to 180 ° when the two blades are in the deployed state and from 0 to 15 ° when the two blades are in the stowed state.
8. The rotor assembly according to claim 6, wherein the blade receiving unit further comprises:
the angle sensor is connected with the blade driving motor and used for acquiring the rotation angle information of the blade driving motor;
and the angle closed-loop controller is connected with the angle sensor and is used for controlling the blade driving motor to rotate by a preset angle according to the rotation angle information of the blade driving motor.
9. A method of storing a rotor assembly according to any one of claims 1 to 8, comprising the steps of:
firstly, controlling a machine arm to be in a spreading state, and then controlling a blade to be in the spreading state;
or the machine arm is controlled to be in a folded state firstly, and then the blade is controlled to be in a storage state.
10. An unmanned aerial vehicle comprising an unmanned aerial vehicle body and the rotor assembly of any of claims 1-8, wherein the rotor assembly is coupled to the unmanned aerial vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211212830.1A CN115489729A (en) | 2022-09-30 | 2022-09-30 | Rotor assembly, rotor assembly storage method and unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211212830.1A CN115489729A (en) | 2022-09-30 | 2022-09-30 | Rotor assembly, rotor assembly storage method and unmanned aerial vehicle |
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| CN115489729A true CN115489729A (en) | 2022-12-20 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834998A (en) * | 2023-06-29 | 2023-10-03 | 珠海市双捷科技有限公司 | Automatic pitch-taking device, rotor unmanned aerial vehicle, parking apron and pitch-taking method |
| CN117342023A (en) * | 2023-08-04 | 2024-01-05 | 珠海市双捷科技有限公司 | Unmanned aerial vehicle blade folding control method and system, array platform system and unmanned aerial vehicle |
-
2022
- 2022-09-30 CN CN202211212830.1A patent/CN115489729A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834998A (en) * | 2023-06-29 | 2023-10-03 | 珠海市双捷科技有限公司 | Automatic pitch-taking device, rotor unmanned aerial vehicle, parking apron and pitch-taking method |
| CN116834998B (en) * | 2023-06-29 | 2023-11-28 | 珠海市双捷科技有限公司 | Automatic pitch-taking device, rotor unmanned aerial vehicle, parking apron and pitch-taking method |
| CN117342023A (en) * | 2023-08-04 | 2024-01-05 | 珠海市双捷科技有限公司 | Unmanned aerial vehicle blade folding control method and system, array platform system and unmanned aerial vehicle |
| CN117342023B (en) * | 2023-08-04 | 2024-03-29 | 珠海市双捷科技有限公司 | Unmanned aerial vehicle blade folding control method and system, array platform system and unmanned aerial vehicle |
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