CN208306984U - A kind of foldable quadrotor structure of box-like - Google Patents
A kind of foldable quadrotor structure of box-like Download PDFInfo
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- CN208306984U CN208306984U CN201820905813.9U CN201820905813U CN208306984U CN 208306984 U CN208306984 U CN 208306984U CN 201820905813 U CN201820905813 U CN 201820905813U CN 208306984 U CN208306984 U CN 208306984U
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- self
- support arm
- hinge
- rotor
- fixed pedestal
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Abstract
A kind of foldable quadrotor structure of box-like, including four fixed pedestal, folding rotor support arm, transmission mechanism and self-locking mechanism parts, fixed pedestal includes lower bottom base, main shaft and upper top surface, is fixedly connected as an entirety；Rotor support arm includes rotor, rotor motor, self-latching hinge, support arm, connecting rod and lifting slider；Transmission mechanism includes stepper motor, turnbarrel, rocking bar, spring A, sliding block and slide bar；Self-locking mechanism includes electromagnet and self-latching hinge, and self-latching hinge includes spring B, circular groove, right hinge, removable pin, left hinge, and electromagnet is fixed on fixed pedestal main shaft, the upper top surface of self-latching hinge connecting support arm and fixed pedestal, and 90 degree of realization and 180 degree are self-locking.The utility model makes aircraft can be folded into the shape of square box under non-state of flight, occupies smaller space, and box-shaped casing can provide good protective effect to rotor and internal unit, can effectively reduce the cost and difficulty of storage and transport.
Description
Technical field
The utility model belongs to technical field of mechanical design, more particularly to a kind of foldable quadrotor knot of box-like
Structure.
Background technique
Have benefited from the fast development of micro electronmechanical control technology in recent years, quadrotor is due to good stability
With it is handling and obtained extensive concern, very extensive application has been obtained in civil field, and gradually form Pang
Big consumer level application market, and it is also very considerable in the application prospect of military domain.Traditional quadrotor is usually adopted
With the stationary structure of cross-shape layout.Such fixed contour structures make aircraft be also required to account under non-state of flight
According to biggish space, the cost and difficulty of storage and transport are considerably increased.In addition, the propeller of traditional quadrotor
Exposed design is generallyd use, so that propeller is easily touched with the object in ambient enviroment in storage and transportational process
A possibility that hitting, increasing propeller damage.
Summary of the invention
The purpose of this utility model is to provide a kind of folding quadrotor structure, four are equipped with rotor
Support arm (abbreviation rotor support arm) is unfolded up and out in flight；When not flight four rotor support arms downwards, be folded inward so that
Entire aircraft is in cubic shaped (abbreviation box-like), so that all rotors and relevant device are accommodated in inside box-shaped casing.
This structure makes aircraft occupy smaller space under non-state of flight, and box-shaped casing can mention rotor and internal unit
For good protective effect, the cost and difficulty of storage and transport can effectively reduce.
It the purpose of this utility model and solves its technical problem underlying and adopts the following technical solutions to realize: a kind of box
The foldable quadrotor structure of shape, entire aircraft can be folded into the shape of square box, structure under non-state of flight
Upper includes fixed pedestal, four four folding rotor support arms, transmission mechanism and self-locking mechanism parts, under fixed pedestal includes
Pedestal, main shaft and upper top surface are fixedly connected as an entirety；
Single rotor support arm includes rotor, rotor motor, self-latching hinge, support arm, connecting rod and lifting slider, and support arm passes through certainly
Lock is hingedly connected at the upper top surface of fixed pedestal, and rotor motor is mounted on the fixation position of support arm, and rotor passes through branch arm center
Circular through hole be mounted in rotor motor, support arm is hinged with connecting rod, and connecting rod is hinged with lifting slider；
Transmission mechanism includes stepper motor, turnbarrel, rocking bar, spring A, sliding block and slide bar, and turnbarrel and stepping are electric
The transmission shaft of machine is fixedly connected；The lower end of rocking bar passes through sleeve, and upper end is hinged with sliding block；Spring A covers on rocking bar, under spring A
End is fixedly connected with sleeve, and upper end is fixedly connected with the rockers；Slide block set is on slide bar；Slide bar is fixedly connected on the master of fixed pedestal
On axis；
Self-locking mechanism includes electromagnet and self-latching hinge, and self-latching hinge includes spring B, circular groove, right hinge, removable pin, a left side
Hinge, electromagnet are fixed on fixed pedestal main shaft, the upper top surface of self-latching hinge connecting support arm and fixed pedestal, realize 90 degree with
180 degree is self-locking.
Utility model works principle:
Folding process: self-locking by remote control switch (being not included in this programme) cancellation, stepper motor rotates clockwise, and drives
The dynamic turnbarrel being connected on stepper motor drives rocking bar to rotate clockwise, and rocking bar band movable slider slides to the right on slide bar,
When sliding block slides into limit on the right-right-hand limit position, band moving slide-bar slide downward on pedestal main shaft, lifting slider and then declines, the company of drive
Bar decline, connecting rod drive support arm around hinge to be rotated down again, when support arm is rotated to stepping electricity when completely closing as box-shape
Machine stops operating, and support arm is fixed by 90 degree of self-latching hinges, completes to fold.
Expansion process: self-locking by remote control switch (being not included in this programme) cancellation, stepper motor rotates counterclockwise, and drives
The dynamic turnbarrel being connected on stepper motor drives rocking bar to rotate counterclockwise, and rocking bar pushes sliding block to slide to the left on slide bar,
With moving slide-bar, upward sliding, lifting slider and then rise on pedestal main shaft simultaneously, and connecting rod is driven to rise, and connecting rod drives support arm again
Around hinge rotates upwards, realizes expansion.Pass through 180 degree when support arm is rotated to stepping motor stalls, support arm when being fully deployed
Self-latching hinge is fixed, while electromagnet energization adsorbs lifting slider, double locking is formed, to prevent aircraft in flight course
Middle wing is closed.
Self-locking mechanism auto-lock process: an electromagnet is placed respectively in the both ends of the circular groove of the left and right hinge of self-latching hinge.Rotation
Before wing support arm starts to spread out, the electromagnet in right hinge, which is powered, to be adsorbed, and removable pin is completely into right hinge, and aircraft is gradually
Expansion.After rotor support arm is fully deployed, removable pin can be under the promotion of spring B, into people into the middle circular groove of left hinge, Zuo He
Electromagnet energization adsorbs removable pin in page, realizes the 180 degree locking of aircraft unfolded state.Before rotor support arm starts folding,
Electromagnet in left hinge powers off, and the electromagnet in right hinge is powered, and removable pin returns in the slot of right hinge；When rotor support arm exhibition
It completes after folding, the electromagnet power-off in right hinge, removable pin understands some company for entering left hinge under the action of spring B
It connects in the hole at place, realizes 90 degree of lockings of aircraft folded state.
The utility model has clear advantage and beneficial effect compared with prior art.From the above technical scheme,
Four rotor support arms of quadrotor are designed to the movement mechanism of foldable/expansion by the utility model, in flight
It is unfolded respectively along four direction, the shape of the box so that entire aircraft is square is folded inward in not flight.It is computed, flies
When row device is unfolded, the maximum distance of two rotor support arms is 300mm on diagonal line；After folding, on diagonal line between two rotor support arms
Maximum distance be hemisphere diameter 100mm, i.e., the folded full-size of aircraft be about be unfolded when 1/3 times, greatly
Reduce aircraft required the space occupied under non-state of flight.In addition, when aircraft is in non-state of flight, outside box-like
Shell can also provide good protective effect to the rotor and relevant device for being accommodated in its inside.
Detailed description of the invention
Fig. 1 is outline drawing when the utility model aircraft folds；
Fig. 2 is outline drawing when the utility model aircraft is unfolded；
Fig. 3 is the utility model rotor support arm and fold mechanism schematic diagram；
Fig. 4 is the fold mechanism partial enlarged view of Fig. 3；
Fig. 5 is the utility model electromagnet schematic diagram；
Fig. 6 is the utility model self-latching hinge schematic diagram；
Fig. 7 is the self-latching hinge internal structure chart of Fig. 6.
Marked in the figure: 1, connecting rod, 2, lifting slider, 3, sliding block, 4, rocking bar, 5, slide bar, 6, spring A, 7, stepper motor, 8,
Turnbarrel, 9, main shaft, 10, lower bottom base, 11, electromagnet, 12, rotor motor, 13, support arm, 14, upper top surface, 15, Self-locking hinge
Chain, 16, rotor, 17, spring B, 18, circular groove, 19, right hinge, 20, removable pin, 21, left hinge.
Specific embodiment
Below in conjunction with attached drawing and preferred embodiment, to according to the utility model proposes a kind of foldable quadrotor of box-like fly
Row device structure specific embodiment, structure, feature and its effect, detailed description is as follows.
Referring to Fig. 1-7, a kind of foldable quadrotor structure of box-like, including fixed pedestal, four folding rotations
Four wing support arm, transmission mechanism and self-locking mechanism parts, fixed pedestal include lower bottom base 10, main shaft 9 and upper top surface 14, fixed company
It is connected in an entirety；
Single rotor support arm includes rotor 16, rotor motor 12, self-latching hinge 15, support arm 13, connecting rod 1 and lifting slider 2,
Support arm 13 is connected to the upper top surface 14 of fixed pedestal by self-latching hinge 15, and rotor motor 12 is mounted on the fixation position of support arm 13
On, rotor 16 is mounted in rotor motor 12 by the circular through hole at 13 center of support arm, and support arm 13 and connecting rod 1 are hinged, connecting rod 1 with
Lifting slider 2 is hinged；
Transmission mechanism includes stepper motor 7, turnbarrel 8, rocking bar 4, spring A6, sliding block 3 and slide bar 5, turnbarrel 8 with
The transmission shaft of stepper motor 7 is fixedly connected；The lower end of rocking bar 4 passes through sleeve 8, and upper end and sliding block 3 are hinged；Spring A6 is covered in rocking bar
On 4, the lower end spring A6 is fixedly connected with sleeve 8, and upper end is fixedly connected with rocking bar 4；3 sets of sliding block on slide bar 5；Slide bar 5 is fixed
It is connected on the main shaft 9 of fixed pedestal；
Self-locking mechanism includes electromagnet 11 and self-latching hinge 15, and self-latching hinge 15 includes spring B 17, circular groove 18, right hinge
19, removable pin 20, left hinge 21, electromagnet 11 are fixed on fixed pedestal main shaft 9,15 connecting support arm 13 of self-latching hinge and fixation
The upper top surface 14 of pedestal, 90 degree of realization and 180 degree are self-locking.
Utility model works principle:
Folding process: self-locking by remote control switch (being not included in this programme) cancellation, stepper motor 7 rotates clockwise,
Being drivingly connected turnbarrel 8 on stepper motor 7 drives rocking bar 4 to rotate clockwise, rocking bar 4 with movable slider 3 on slide bar 5 to
Right sliding, when sliding block 3 slides into limit on the right-right-hand limit position, the band slide downward on pedestal main shaft 9 of moving slide-bar 5, lifting slider 2 is followed
Decline drives connecting rod 1 to decline, and connecting rod 1 drives 13 around hinge 15 of support arm to be rotated down again, when the rotation of support arm 13 is to completely closing into
Stepper motor 7 stops operating when for box-shape, and support arm 13 is fixed by 90 degree of self-latching hinges, completes to fold.
Expansion process: self-locking by remote control switch (being not included in this programme) cancellation, stepper motor 7 rotates counterclockwise,
Being drivingly connected turnbarrel 8 on stepper motor 7 drives rocking bar 4 to rotate counterclockwise, rocking bar 4 push sliding block 3 on slide bar 5 to
Left sliding, while with moving slide-bar 5, upward sliding, lifting slider 2 and then rise on pedestal main shaft 9, drive connecting rod 1 to rise, even
Bar 1 drives 13 rotation upwards of around hinge 15 of support arm again, realizes expansion.Stop when support arm is rotated to stepper motor 7 when being fully deployed
Rotation, support arm 13 is fixed by 180 degree self-latching hinge 15, while the energization of electromagnet 11 adsorbs lifting slider 2, forms two-bolt lock
It is fixed, to prevent aircraft wing in flight course from closing.
Self-locking mechanism auto-lock process: an electromagnetism is placed respectively in the both ends of the circular groove 18 of the left and right hinge of self-latching hinge 15
Iron.Before rotor support arm starts to spread out, electromagnet in right hinge 19 is powered absorption, and removable pin 20 is completely into arriving right hinge 19
In, aircraft is gradually spread out.After rotor support arm is fully deployed, removable pin 20 can be under the promotion of spring B 17, into people to left conjunction
In the middle circular groove 18 of page 21, electromagnet energization adsorbs removable pin 20 in left hinge 21, realizes the 180 degree of aircraft unfolded state
Locking.Before rotor support arm starts folding, the electromagnet in left hinge 21 is powered off, and the electromagnet in right hinge 19 is powered, removable pin
20 return in the slot of right hinge；After rotor support arm, which is opened up, to be completed to fold, the electromagnet in right hinge 19 is powered off, and removable pin 20 is in bullet
In the hole for the junction that some enters left hinge 21 under the action of spring B17,90 degree of locks of aircraft folded state are realized
It is fixed.
The utility model designs a kind of folding quadrotor structure, and when not flight can be folded into cube shaped
Shape (see figure 1).The top and bottom of cube is fixedly connected with the fixed pedestal as entire aircraft by column.In cube
Four side casings on rotor is installed, and pass through corresponding transmission mechanism and realize folded/expanded movement.Four side casings letters
Claim rotor support arm, aircraft shape when being fully deployed is as shown in Figure 2.
In conclusion quadrotor designed by the utility model obtains excellent because of its unique folding structure
The appearance and excellent shelf stability, portability of beauty can substantially reduce the cost and difficulty of aircraft storage and transport, have very
High market application value.
The above descriptions are merely preferred embodiments of the present invention, not makees in any form to the utility model
Limitation, it is any without departing from the content of the technical scheme of the utility model, according to the technical essence of the utility model to above embodiments
Made any simple modification, equivalent change and modification, are still within the scope of the technical solutions of the present invention.
Claims (1)
1. a kind of foldable quadrotor structure of box-like, it is characterised in that: including fixed pedestal, four folding rotors
Four support arm, transmission mechanism and self-locking mechanism parts；
Fixed pedestal includes lower bottom base (10), main shaft (9) and upper top surface (14), is fixedly connected as an entirety；
Single rotor support arm includes rotor (16), rotor motor (12), self-latching hinge (15), support arm (13), connecting rod (1) and lifting
Sliding block (2), support arm (13) are connected to the upper top surface (14) of fixed pedestal by self-latching hinge (15), and rotor motor (12) is mounted on
On the fixation position of support arm (13), rotor (16) is mounted on rotor motor (12) by the circular through hole at support arm (13) center,
Hingedly, connecting rod (1) and lifting slider (2) are hinged for support arm (13) and connecting rod (1)；
Transmission mechanism includes stepper motor (7), turnbarrel (8), rocking bar (4), spring A (6), sliding block (3) and slide bar (5), rotation
Rotaring sleeve (8) is fixedly connected with the transmission shaft of stepper motor (7)；The lower end of rocking bar (4) passes through sleeve (8), upper end and sliding block (3)
Hingedly；Spring A (6) covers on rocking bar (4), and (6) lower end spring A is fixedly connected with sleeve (8), upper end and rocking bar (4) fixed company
It connects；Sliding block (3) covers on slide bar (5)；Slide bar (5) is fixedly connected on the main shaft (9) of fixed pedestal；
Self-locking mechanism includes electromagnet (11) and self-latching hinge (15), self-latching hinge (15) include spring B (17), circular groove (18),
Right hinge (19), removable pin (20), left hinge (21), electromagnet (11) are fixed on fixed pedestal main shaft (9), self-latching hinge
(15) the upper top surface (14) of connecting support arm (13) and fixed pedestal, 90 degree of realization and 180 degree are self-locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820905813.9U CN208306984U (en) | 2018-06-12 | 2018-06-12 | A kind of foldable quadrotor structure of box-like |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820905813.9U CN208306984U (en) | 2018-06-12 | 2018-06-12 | A kind of foldable quadrotor structure of box-like |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208306984U true CN208306984U (en) | 2019-01-01 |
Family
ID=64708045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820905813.9U Expired - Fee Related CN208306984U (en) | 2018-06-12 | 2018-06-12 | A kind of foldable quadrotor structure of box-like |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208306984U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154661A (en) * | 2019-06-28 | 2019-08-23 | 龙奎 | A kind of hovercar of folding rotor |
| CN112849400A (en) * | 2020-12-19 | 2021-05-28 | 湖北航天飞行器研究所 | Sleeve locking type four-rotor unmanned aerial vehicle for barrel type carrying |
-
2018
- 2018-06-12 CN CN201820905813.9U patent/CN208306984U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154661A (en) * | 2019-06-28 | 2019-08-23 | 龙奎 | A kind of hovercar of folding rotor |
| CN112849400A (en) * | 2020-12-19 | 2021-05-28 | 湖北航天飞行器研究所 | Sleeve locking type four-rotor unmanned aerial vehicle for barrel type carrying |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190101 Termination date: 20200612 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |