WO2016107528A1 - 一种可折叠的无人机 - Google Patents

一种可折叠的无人机 Download PDF

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Publication number
WO2016107528A1
WO2016107528A1 PCT/CN2015/099327 CN2015099327W WO2016107528A1 WO 2016107528 A1 WO2016107528 A1 WO 2016107528A1 CN 2015099327 W CN2015099327 W CN 2015099327W WO 2016107528 A1 WO2016107528 A1 WO 2016107528A1
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WO
WIPO (PCT)
Prior art keywords
rotor
rotor module
module
drone
main body
Prior art date
Application number
PCT/CN2015/099327
Other languages
English (en)
French (fr)
Inventor
张通
王孟秋
王兆喆
张旭洋
张冠群
宫爽
张亚林
王精龙
刘力心
Original Assignee
北京零零无限科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=55033806&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2016107528(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by 北京零零无限科技有限公司 filed Critical 北京零零无限科技有限公司
Priority to JP2017553296A priority Critical patent/JP6690096B2/ja
Priority to KR1020177020826A priority patent/KR102328509B1/ko
Priority to EP15875204.8A priority patent/EP3241741B1/en
Priority to US15/035,934 priority patent/US10035589B2/en
Publication of WO2016107528A1 publication Critical patent/WO2016107528A1/zh
Priority to US16/024,446 priority patent/US10358214B2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/50—Foldable or collapsible UAVs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/006—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/20—Transmission of mechanical power to rotors or propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/70—Transport or storage specially adapted for UAVs in containers

Definitions

  • the invention relates to the technical field of drones, in particular to a foldable drone.
  • the drone referred to as the "unmanned aerial vehicle” is an unmanned aerial vehicle operated by radio remote control equipment or its own program control device. It was first used in the 1940s as a target aircraft for military training. The drone has a wide range of uses, low cost and good cost-effectiveness; no risk of casualties; strong survivability, good maneuverability and convenient use, not only has an extremely important role in modern warfare, but also has broad prospects in the civilian field. At present, drones have been widely used in security, urban management, agriculture, geology, meteorology, electricity, disaster relief, video shooting and other fields.
  • some fixed-wing UAVs may have only one rotor.
  • Some helicopter-type UAVs may have two or more rotors; from the mechanical characteristics of the rotors, each rotor is rotated to make the surrounding The airflow changes to form lift, so each rotor needs to have a certain amount of independent space in order to create conditions for its lift.
  • the rotor takes up most of the cross-sectional area of the drone, and it also brings inconvenience to the drone.
  • the present invention provides a foldable drone comprising a drone body and a rotor portion connected thereto, the rotor portion including a first rotor module and a second rotor module respectively having at least one rotor
  • the first rotor module and the second rotor module are respectively hinged on both sides of the main body of the drone so that the two rotate or overlap or rotate around the respective hinge axes.
  • the UAV of the present invention includes a UAV main body and a rotor portion, wherein the rotor portion includes a first rotor module and a second rotor module, and the two are respectively hinged on both sides of the UAV main body, and the first rotor module and The second rotor modules can be rotated about their respective hinge axes so that the two can be folded to fold the drone for carrying by the drone; when the drone is needed, the first rotor module and the second can be The rotor module is deployed, in which case the two have relatively independent spaces, respectively, in order to generate lift by the rotation of the rotor, so that the drone is in flight.
  • the UAV of the present invention modularizes the rotor, firstly forming two rotor modules that can be overlapped or unfolded, and then folding or unfolding by flipping the rotation of the rotor module to change the state of the drone, satisfying
  • the folding and flying requirements of the drone improve the portability of the drone; in addition, the lines and control modules required by the drone can be built into the main body of the drone without being placed in each rotor module. In this way, the control reliability is improved, the integration of the drone is improved, and the structure of the rotor is also simplified to some extent.
  • the opposite faces of the first rotor module and the second rotor module are provided with a first positioning member that cooperates with each other so as to be fixed by the first positioning member when the two are overlapped.
  • an opposite surface of the first rotor module and the UAV main body, and/or an opposite surface of the second rotor module and the UAV main body are provided with a second positioning member that cooperates with each other.
  • the first rotor module and the second rotor module are fixed to the drone body by the second positioning member when deployed.
  • first rotor module and the second rotor module can be deployed into the same plane; and/or,
  • the first rotor module and the second rotor module can be deployed to a plane formed in the same plane or unfolded with the main body of the drone, parallel to a side of the main body of the drone.
  • the vertical section of the main body of the drone has a T-shape
  • the hinge shaft is formed by the T Extending the ends of the glyph to form a connection end for connecting the first rotor module or the second rotor module; the first rotor module and the second rotor module are deployed and the T-shaped
  • the horizontal sections are parallel to each other.
  • the outer sides of the two are not beyond the outer side of the main body of the drone.
  • the first rotor module is provided with a first gear
  • the second rotor module is provided with a second gear that meshes with the first gear
  • the axes of the first gear and the second gear are respectively Parallel to the hinge axes on the same side of the respective sides.
  • two of the hinge shafts are disposed on the main body of the drone, and the first gear and the second gear are respectively hinged with the hinged shaft sets on the same side.
  • the first rotor module and the second rotor module each include at least two interconnected rotors, and each of the rotors is linearly arranged.
  • first rotor module and the second rotor module two adjacent ones of the rotors are hinged, and one of the rotors constitutes a base rotor, and the other rotors constitute a folding rotor, the first rotor module And the second rotor module is hinged to the drone body through the base rotor; each of the folding rotors can be sequentially superposed to the base rotor or sequentially deployed by the base rotor.
  • FIG. 1 is a schematic perspective view showing the foldable drone of the present invention in an unfolded state in a specific embodiment
  • Figure 2 is a side view showing the partially folded structure of the foldable drone shown in Figure 1;
  • Figure 3 is a front elevational view showing the partially folded front view of the foldable drone shown in Figure 1;
  • Figure 4 is an assembled, exploded perspective view of the foldable drone of Figure 1;
  • FIG. 5 is a schematic perspective structural view of a foldable drone according to another embodiment of the present invention in an unfolded state
  • FIG. 6 is a schematic view showing the unfolding process of the foldable drone shown in FIG.
  • UAV main body 1 first rotor module 2, second rotor module 3, hinge shaft 4, connecting end 41.
  • the core of the present invention is to provide a foldable drone that can improve its portability.
  • first and second words in the present invention are only a plurality of components or structures having the same or similar structure, and do not indicate some special limitation on the setting order or the connection relationship.
  • the present invention provides a foldable drone comprising a drone body 1 and a rotor portion coupled to the drone body 1, wherein the rotor portion includes a first rotor module 2 and The second rotor module 3, the first rotor module 2 and the second rotor module 3 each include at least one rotor, that is, the drone of the present invention may include more than two rotors; the first rotor module 2 and the second rotor module 3 respectively
  • the two rotor modules 2 and the second rotor module 3 are hinged on both sides of the main body 1 and the first rotor module 2 and the second rotor module 3 are rotatable so as to be close to each other and overlap or relatively far apart.
  • the number of rotors included in the first rotor module 2 and the second rotor module 3 may be the same or different, that is, the drone of the present invention includes at least two rotors, and the specific number of the rotors may be odd or Even number can be set according to the needs of use. It can be understood that when the number of the first rotor module 2 and the second rotor module 3 are the same, the two can be completely folded in half to improve the stability after the folding; meanwhile, the first rotor module 2 and the second rotor module 3 It can be symmetrically arranged with respect to the main body 1 of the drone, so that the two unfolded to form a symmetrical structure of the drone as a whole, thereby improving flight stability.
  • the embodiment shown in FIG. 1-6 illustrates that the rotor portion includes four rotors, that is, the first rotor module 2 and the second rotor module 3 both include two rotors, and the two rotors are integrally formed or Connected in sequence, the first rotor module 2 and the second rotor module 3 are symmetrically arranged with respect to the drone main body 1, that is, a four-rotor drone shown in FIGS. 1-6; however, those skilled in the art should understand that The invention of the drone is not limited to the structure of the four-rotor, and the number and arrangement of the rotors can be set as needed.
  • Figures 1-6 are only a specific form of the present invention for explaining the structure of the present invention, and should not It is understood to be a limitation of the invention.
  • the drone of the present invention includes the drone main body 1 and the rotor portion, wherein the rotor portion includes the first rotor module 2 and the second rotor module 3, which are respectively hinged to the two of the drone main body 1 Side, and capable of rotating about the respective hinge axis 4, so that the first rotor module 2 and the second rotor module 3 are overlapped to fold the drone, or the first rotor module 2 and the second rotor module 3 are separated from each other
  • the drone is unfolded. It can be seen that the UAV of the present invention can realize the morphological transformation, can be directly used after being folded or carried, and has high use efficiency and good portability, and greatly reduces the occupation of the UAV when it is stored.
  • the drone main body 1 can be used to build various control modules and power components, etc., and the drive of each rotor can be integrated and integrated into the In the main body 1 of the drone, not only the integration degree and controllability of the drone are improved, but also the structure of the rotor is simplified; in addition, the arrangement of the first rotor module 2 and the second rotor module 3 makes the relative movement of the rotor more For simplicity and reliability, it is not necessary to separately provide folding parts for each rotor or to provide a foldable rotor, which simplifies the convenience of folding and unfolding of the drone.
  • the opposite faces when the first rotor module 2 and the second rotor module 3 are overlapped may be defined as the inner faces of the two faces, and the other face opposite the inner face is the outer face; and the extending direction of the hinge shaft 4 is the front-rear direction, In a plane parallel to the inner and outer faces, the direction perpendicular to the front and rear is the left and right direction.
  • the two when the first rotor module 2 and the second rotor module 3 are in an unfolded state, the two may be in the same plane to form a planar structure of the aircraft; at this time, due to the first rotor module 2 and the second
  • the rotor modules 3 extend in the same plane, and there is no overlapping area, which ensures the independence of the space occupied by the rotors, so as to increase the contact area between the rotor and the airflow, and can avoid mutual interference of the airflow around the rotors, thereby generating enough The lift.
  • first rotor module 2 and the second rotor module 3 when deployed, they may be parallel to one side of the main body 1 of the drone. As shown in FIG. 1, the first rotor module 2 and the second rotor module 3 can be mounted on one side of the main body 1 of the drone.
  • the surface constitutes a mounting surface
  • the outer surface of the module 3 can be parallel to the mounting surface; at the same time, the first rotor module 2 and the second rotor module 3 can be spliced to form a flat structure, and the drone main body 1 is outside the flat structure, and can be used in two
  • the inner surface of the person faces downward so that the rotor can fully contact with the airflow to generate sufficient lift to prevent the drone main body 1 from affecting the lifting.
  • the first Both the rotor module 2 and the second rotor module 3 can be mounted on one side of the main body 1 of the drone. When the two are deployed, they can be parallel to the mounting surfaces of the two to improve the flatness of the drone, thereby reducing flight resistance.
  • first rotor module 2 and the second rotor module 3 and the drone main body 1 it is also possible to further improve the structures of the first rotor module 2 and the second rotor module 3 and the drone main body 1 such that the drone main body 1 is between the first rotor module 2 and the second rotor module 3, when After the rotor module 2 and the second rotor module 3 are deployed, they can be in the same plane as the UAV main body 1, that is, the first rotor module 2, the second rotor module 3 and the UAV main body 1 form a flat plate structure, so that The entire drone is flying in a flat structure, which simplifies the structure of the drone and reduces flight resistance.
  • the first rotor module 2 and the second rotor module 3 can be respectively hinged on both sides of the main body 1 of the drone, that is, the drone shown in FIG.
  • the left and right sides of the main body 1 and the drone main body 1, the first rotor module 2 and the second rotor module 3 are disposed at the same thickness, and the first rotor module 2 and the second rotor module 3 are deployed to be unmanned
  • the main body 1 is in the same plane; or, the structure of the UAV main body 1 can be improved, and the mounting grooves of the first rotor module 2 and the second rotor module 3 are formed on one side of the UAV main body 1 to realize
  • the first rotor module 2 and the second rotor module 3 are mounted in an embedded manner so that they can be flattened in the same plane as the drone body 1.
  • a second positioning member 6 can be disposed on the opposite side of the first rotor module 2 and the UAV main body 1.
  • the opposite surface of the second rotor module 3 and the UAV main body 1 can also be disposed.
  • the second positioning member 6; when the first rotor module 2 and the second rotor module 3 are deployed, can be fixed to the UAV body 1 by the second positioning member 6.
  • the opposite surfaces may specifically refer to the outer surfaces of the first rotor module 2 and the second rotor module 3 and the mounting surface;
  • the two rotor modules are mounted on the left and right sides of the UAV main body 1, it refers to the side surfaces of the two sides of the two rotor modules corresponding to the side of the UAV main body 1.
  • the second positioning member 6 may be a magnet that can be attracted to each other. As shown in FIG. 2, the first rotor module 2 and the second rotor module 3 may be disposed on one side of the drone main body 1 as a mounting surface. a magnet may be disposed outside the first rotor module 2 and the second rotor module 3, and then a magnet is also disposed at a corresponding position on the mounting surface of the drone main body 1; when the first rotor module 2 and When the second rotor module 3 is deployed, the magnets are attracted to each other, thereby achieving a fixed connection between the first rotor module 2 and the UAV main body 1, the second rotor module 3 and the UAV main body 1. The magnet is used as the second positioning member 6.
  • the second positioning member 6 has various structural forms and is not limited to the specific form of the above magnet.
  • a track may be provided on the drone body 1, and then a moving member that cooperates with the track may be provided on the first rotor module 2 and the second rotor module 3, at the starting position of the track and any position requiring positioning.
  • a limiting member such as a buckle is disposed; when the first rotor module 2 and the second rotor module 3 rotate around the respective hinge shaft 4, the moving member moves along the track, and when rotated to a position requiring positioning, the limiting member can be restricted by the limiting member.
  • the second positioning member 6 can also be used in the form of a snap-fit spring.
  • the buckle is fixed by the spring, and does not affect the first rotor module 2 and the second rotor module 3;
  • the spring may be triggered to eject the buckle to buckle the first rotor module 2 and the second rotor module 3, Thereby fixing the two in this position.
  • the second positioning member 6 may be a fixing clip.
  • the first positioning member 6 may be manually or automatically clamped.
  • the positioning may be implemented by other structures, and is not limited to the positioning of the opposing faces of the first rotor module 2 and the UAV main body 1 and the opposing faces of the second rotor module 3 and the UAV main body 1.
  • the first rotor module 2 and the second rotor module 3 can be driven to rotate by a motor-gear or a cam or a pulley-push rod.
  • the motor can be used to lock the push rod to any desired position;
  • the first rotor module 2 and the second rotor module 3 may be provided as a self-locking flap structure for fixing at a position where positioning is required; or the hinge shaft 4 may be modified to pass the hinge shaft 4 and the first Friction of the rotor module 2 and the second rotor module 3 Achieve positioning.
  • first rotor module 2 and the second rotor module 3 herein may adopt the same structure to realize the positioning with the main body 1 of the drone, or may adopt different structures, or only one of them adopts a positioning structure and no one.
  • the machine body 1 is fixed.
  • a first positioning member 5 that cooperates with each other may be disposed on the opposite side of the first rotor module 2 and the second rotor module 3. When the two are overlapped, the first positioning member 5 may be fixed.
  • the opposite faces as used herein refer to the inner faces of the two rotor modules.
  • the first positioning member 5 may also be a magnet, and magnets may be disposed at corresponding positions of the first rotor module 2 and the second rotor module 3, and are positioned by magnet attraction when the two are overlapped.
  • a person skilled in the art can set the number and position of the magnets as needed.
  • the magnets can be disposed on one side away from the hinge shaft 4, and a plurality of magnets can be arranged at intervals in the extending direction of the sides, and the spacing can be equal or as needed. Adjustment;
  • the embodiment shown in FIG. 3 is described by taking four magnets as an example, and the magnets may be on the left and right sides of the inner surface.
  • a person skilled in the art can also set the number of the magnets in the second positioning member 6 and the arrangement position as needed; the structural forms of the first positioning member 5 and the second positioning member 6 can be similar, that is, those skilled in the art can refer to the above The description of the second positioning member 6 sets the first positioning member 5, which will not be described again here.
  • the vertical (ie, inner and outer direction) cross section of the main body 1 of the drone may be T-shaped, and the vertical portion of the T-shape may be used to mount the hinge shaft 4, and the hinge shaft 4 may be substantially parallel to the transverse direction of the T-shape. Extending, and the hinge shaft 4 can extend from the vertical portion of the T-shape to the two ends in the lateral direction, that is, the front-rear direction in FIG.
  • the two ends of the hinge shaft 4 can form the connection end 41, and the first rotor module 2 can
  • the front and rear ends are respectively hinged to the connecting end 41 of the hinge shaft 4 on the same side thereof, and the second rotor module 3 can also be hinged to the two connecting ends 41 of the hinge shaft 4 on the same side thereof.
  • the hinge shaft 4 may specifically penetrate the vertical portion of the T-shape, or may only include the connection end portion 41 disposed at both ends of the vertical portion, as long as the first rotor module 2 and the second rotor module 3 can be connected to the respective ends.
  • the hinges 41 are formed so as to be rotatable about the connecting end 41. At this time, the connecting ends 41 at both ends are coaxially disposed, and the connecting lines of the two can be hinged to the shaft 4, which is equivalent to the hinge shaft 4.
  • the bottom surface of the T-shape as the mounting surface; the two hinge shafts 4 can be respectively disposed at Both sides of the mounting surface, that is, the left and right sides shown in Figure 4. Regardless of the configuration, the first rotor module 2 and the second rotor module 3 can be deployed in parallel with the transverse portion of the T-shape, as shown in FIG.
  • both the first rotor module 2 and the second rotor module 3 may be arranged in a door-like structure, as shown in FIGS. 1-6.
  • the following description is only made with the structure of the first rotor module 2, and the second rotor module 3 can be arranged with reference to the first rotor module 2.
  • the first rotor module 2 may include a frame, the frame may be configured like a door frame, and the frame has two mounting cavities for mounting the rotor; and the first rotor module 2 is disposed on the left side of the UAV main body 1 as an example.
  • a U-shaped groove may be disposed on the left side of the frame, and the opening of the U-shaped groove faces the hinge shaft 4 on the left side of the UAV main body 1 to accommodate the hinge shaft 4; as described above, when the UAV main body 1 is vertical
  • the opening of the U-shaped groove can also accommodate the T-shaped vertical portion, which further simplifies the structure; the U-shaped groove can be connected to both ends of the hinge shaft 4 by the two side walls thereof, as shown in FIG. 1-3.
  • the outer sides of the two can not exceed the outer side of the main body 1, that is, the first rotor module 2 and the second rotor module 3 are in the unmanned
  • the inside of the machine body 1 is formed to form a folded structure that is small in size and easy to carry. In the embodiment shown in FIGS.
  • the outer side of the main body 1 of the drone refers to the left and right sides thereof, that is, the outer side of the first rotor module 2 on the left side is located at the left of the main body 1 of the drone
  • the right side of the side is flush with the left side of the drone main body 1; the outer side of the second rotor module 3 on the right side is located on the left side of the right side of the drone main body 1 or with the drone main body
  • the right side of 1 is flush. That is, when the drones are stacked, the first rotor module 2 and the second rotor module 3 can be housed inside the drone main body 1.
  • a U-shaped groove may be disposed on a side of the first rotor module 2 and the second rotor module 3 near the main body 1 of the drone, and at this time, the main body 1 of the drone may extend into both sides.
  • the first rotor module 2 and the second rotor module 3 are folded inward in the direction of the U-shaped groove, the portion outside the UAV main body 1 is gradually stored inward, and finally stored therein.
  • the inside of the UAV main body 1 is between the left and right sides of the UAV main body 1, that is, the first rotor module 2 and the second side on the left and right sides.
  • the rotor module 3 can be rotated in the middle, and finally the two are superposed to form a flap-like structure in which the left and right directions do not exceed the left and right sides of the main body 1 of the drone.
  • the first rotor module 2 can also be provided with a first gear 7, and the second rotor module 3 can be provided with a second gear 8, the first gear 7 and the second gear 8 can be meshed with each other, and the first gear 7 and the first gear
  • the axes of the two gears 8 are respectively parallel to the hinge axes 4 on the same side as their respective sides.
  • the gears connected thereto can be driven to rotate, and since the two gears mesh, if one of the gears rotates, the other gear will also rotate, thereby driving the other
  • the rotor module rotates; in other words, the arrangement of the first gear 7 and the second gear 8 can ensure the synchronization of the rotation of the first rotor module 2 and the second rotor module 3, thereby ensuring that the first rotor module 2 is in the process of superposition and deployment.
  • the angle of the second rotor module 3 with respect to the main body 1 of the drone is always consistent, and the stability of the drone is improved.
  • the first rotor module 2 can realize the articulation with the UAV main body 1 through the first gear 7
  • the second rotor module 3 can also realize the articulation with the UAV main body 1 through the second gear 8.
  • the two hinge shafts 4 may be disposed on the main body 1 of the drone, and the first gear 7 may be fitted on the hinge shaft 4 on the same side thereof, and the second gear 8 may be fitted on the same side thereof.
  • the first gear 7 and the second gear 8 are all rotatable relative to the respective hinge shafts 4, and the first rotor module 2 and the second rotor module 3 are realized with the respective gears and the drone main body. 1 hinged.
  • the first gear 7 and the second gear 8 may be provided in an annular structure, and the outer ring may be provided with a tooth pattern which can be engaged with each other, and the inner ring may be directly fitted on the hinge shaft 4.
  • the hinge shaft 4 may include only two connecting ends 41, and one connecting end 41 corresponds to a short shaft.
  • the connecting end 41 may adopt a sleeve-like structure, and then the first gear 7 may be used.
  • the second gear 8 is set on the corresponding sleeve; in order to improve the connection reliability, each of the connecting ends 41 can be hinged in the form of a gear, and those skilled in the art can also set the connecting end 41 according to the number of the rotors. number.
  • the first gear 7 and the second gear 8 may be integrally formed with the respective rotor modules, or may be connected by a detachable connection such as screwing or pinning. As shown in FIG. 4, screw holes 9 may be provided on the first rotor module 2 and the second rotor module 3, and corresponding screw connection holes are provided on the first gear 7 and the second gear 8 to achieve the first by screws.
  • the gear 7 is connected to the first rotor module 2, the second gear 8 and the second rotor module 3.
  • the first rotor module 2 and the second rotor module 3 each include two rotors, and the two rotors may be integrally formed or connected to each other to form a linear structure;
  • those skilled in the art can also set the arrangement of the rotors and the number of the rotors as needed.
  • an articulated connection manner may be adopted between two adjacent rotors, that is, in the case of a single rotor module, when two For more than one rotor, the rotors can also be articulated.
  • the first rotor module 2 may include a rotor A and a rotor B
  • the second rotor module 3 may include a rotor C and a rotor D
  • B and rotor C are used as the basic rotor
  • the rotor A and the rotor D are used as the folding rotor
  • the drone main body 1 is disposed between the rotor B and the rotor C, and the two are respectively hinged to the two sides of the main body 1 of the drone.
  • the articulation of the first rotor module 2 and the second rotor module 3 with the drone body 1 is achieved.
  • the rotor D may be first turned down and overlapped to the lower side of the rotor C, and then the rotor B is superposed above the rotor C, and then the rotor A is folded up to be superposed on the upper side of the rotor B, thereby forming a laminated structure shown at the far left in Fig. 6;
  • the rotor A may be first superposed on the rotor B, the rotor D may be superposed below the rotor C, and then the rotor B and the rotor C may be superposed, and the unfolding is also performed in the reverse order.
  • the folding rotors When the folding rotors are arranged in two or more, the folding rotors may be sequentially superposed on the base rotors in order, or the folding rotors may be unfolded from the base rotors in reverse order. Further, the connecting shaft at the time of hinge of each rotor is indicated by a broken line in FIG.
  • the drone main body 1 is not shown in FIGS. 5 and 6.
  • Those skilled in the art can also omit the UAV main body 1 as needed, and directly hinge the respective rotors in a hinged form, which can adopt a structure similar to the hinge shaft 4 described above.

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Abstract

一种可折叠的无人机，以提高无人机的便携性，它包括无人机主体（1）和与其连接的旋翼部，所述旋翼部包括分别具有至少一个旋翼的第一旋翼模块（2）和第二旋翼模块（3），所述第一旋翼模块和所述第二旋翼模块分别铰接在所述无人机主体的两侧，以便两者绕各自的铰接轴（4）转动而叠合或展开。该无人机将旋翼进行模块化设计，首先形成可以相对叠合或展开的两个旋翼模块，然后通过旋翼模块的翻转转动实现折叠或展开，以变换无人机的状态，满足无人机的收折与飞行需求，提高了无人机的便携性；无人机所需的线路以及控制模块等均可以内置于无人机主体内，无需分置于各个旋翼模块中，从而提高了控制可靠性。

Description

一种可折叠的无人机
本申请要求于2015年01月04日提交美国专利局、申请号为62/099512、发明名称为“一种具有全保护旋翼系统的可折叠的无人机”的美国专利申请的优先权，以及于2015年08月04日提交中国专利局、申请号为201510472369.7、发明名称为“一种可折叠的无人机”的中国专利申请的优先权，两者的全部内容通过引用结合在本申请中。
技术领域
本发明涉及无人机技术领域，特别是涉及一种可折叠的无人机。
背景技术
无人驾驶飞机简称“无人机”，是一种由无线电遥控设备或自身程序控制装置操纵的无人驾驶飞行器，最早出现于20世纪40年代，当时是作为军事训练用的靶机使用的。无人机用途广泛，成本低，效费比好；无人员伤亡风险；生存能力强，机动性能好，使用方便，不仅在现代战争中有极其重要的作用，在民用领域更有广阔的前景。目前，无人机已被广泛运用到警备、城市管理、农业、地质、气象、电力、抢险救灾、视频拍摄等领域。
现有技术中，一些固定翼的无人机可能只有一片旋翼，一些直升机类的无人机可能具有两片或者两片以上的旋翼；由旋翼的机械特性可知，每片旋翼通过旋转使得周围的气流产生变化，从而形成升力，因此，每片旋翼均需要对应一定的独立空间，以便为其形成升力创造条件。换言之，现有无人机方案中，旋翼占用了无人机绝大部分的截面积，还给无人机的携带带来了不便。
因此，如何设计一种可折叠的无人机，以便无人机在不使用时能够收折，以提高无人机的便携性，成为本领域技术人员目前亟需解决的技术问题。
发明内容
本发明的目的是提供一种可折叠的无人机，以提高无人机的便携性。
为解决上述技术问题，本发明提供一种可折叠的无人机，包括无人机主体和与其连接的旋翼部，所述旋翼部包括分别具有至少一个旋翼的第一旋翼模块和第二旋翼模块，所述第一旋翼模块和所述第二旋翼模块分别铰接在所述无人机主体的两侧，以便两者绕各自的铰接轴转动而叠合或展开。
本发明的无人机包括无人机主体和旋翼部，其中，旋翼部包括第一旋翼模块和第二旋翼模块，且两者分别铰接在无人机主体的两侧，则第一旋翼模块和第二旋翼模块可以绕各自的铰接轴转动，以便两者能够叠合而将无人机折起，便于无人机的携带；当需要使用无人机时，可以将第一旋翼模块和第二旋翼模块展开，此时两者分别具有相对独立的空间，以便通过旋翼的转动产生升力，使得无人机处于飞行状态。
可见，本发明的无人机将旋翼进行模块化设计，首先形成可以相对叠合或展开的两个旋翼模块，然后通过旋翼模块的翻转转动实现折叠或展开，以变换无人机的状态，满足无人机的收折与飞行需求，提高了无人机的便携性；再者，无人机所需的线路以及控制模块等均可以内置于无人机主体内，无需分置于各个旋翼模块中，从而提高了控制可靠性，提高了无人机的集成度，也在一定程度上简化了旋翼的结构。
可选地，所述第一旋翼模块和所述第二旋翼模块的相对面设有相互配合的第一定位件，以便两者叠合时通过所述第一定位件固定。
可选地，所述第一旋翼模块与所述无人机主体的相对面、和/或所述第二旋翼模块与所述无人机主体的相对面设有相互配合的第二定位件，以便所述第一旋翼模块和所述第二旋翼模块展开时通过所述第二定位件与所述无人机主体固定。
可选地，所述第一旋翼模块和所述第二旋翼模块能够展开至同一平面内；和/或，
所述第一旋翼模块和所述第二旋翼模块能够展开至与所述无人机主体处于同一平面或展开后形成的平面平行于所述无人机主体的一面。
可选地，所述无人机主体的垂向截面呈T字型，所述铰接轴由所述T 字型的竖部两端延伸，以形成用于连接所述第一旋翼模块或第二旋翼模块的连接端；所述第一旋翼模块和所述第二旋翼模块展开后与所述T字型的横部平行贴合。
可选地，所述第一旋翼模块和所述第二旋翼模块叠合时，两者的外侧面均不超出所述无人机主体的外侧面。
可选地，所述第一旋翼模块设有第一齿轮，所述第二旋翼模块设有与所述第一齿轮啮合的第二齿轮，所述第一齿轮和所述第二齿轮的轴线分别与各自同侧的所述铰接轴平行。
可选地，两所述铰接轴设置在所述无人机主体上，所述第一齿轮和所述第二齿轮分别与各自同侧的所述铰接轴套装铰接。
可选地，所述第一旋翼模块和所述第二旋翼模块均包括至少两个相互连接的旋翼，且各所述旋翼呈直线排列。
可选地，所述第一旋翼模块和所述第二旋翼模块中，两相邻的所述旋翼之间铰接，且其中一个旋翼构成基础旋翼，其他旋翼构成折叠旋翼，所述第一旋翼模块和所述第二旋翼模块通过所述基础旋翼与所述无人机主体铰接；各所述折叠旋翼能够依次叠合至所述基础旋翼或由所述基础旋翼依次展开。
附图说明
图1为本发明所提供可折叠的无人机在一种具体实施方式中处于展开状态的立体结构示意图；
图2为图1所示可折叠的无人机部分折叠的侧面结构示意图；
图3为图1所示可折叠的无人机部分折叠的正面结构示意图；
图4为图1所示可折叠的无人机的组装分解立体图；
图5为本发明所提供可折叠的无人机在另一种具体实施方式处于展开状态的立体结构示意图；
图6为图5所示可折叠的无人机折叠后的展开过程示意图。
图1-6中：
无人机主体1、第一旋翼模块2、第二旋翼模块3、铰接轴4、连接端 41、第一定位件5、第二定位件6、第一齿轮7、第二齿轮8、螺孔9。
具体实施方式
本发明的核心是提供一种可折叠的无人机，能够提高其便携性。
需要说明的是，本发明所述的第一、第二等词仅为了区分结构相同或类似的多个部件或结构，不表示对设置顺序或者连接关系的某种特殊限定。
以下结合附图，对本发明可折叠的无人机进行具体介绍，以便本领域技术人员准确理解本发明的技术方案。
如图1-6所示，本发明提供了一种可折叠的无人机，包括无人机主体1和与无人机主体1连接的旋翼部，其中，旋翼部包括第一旋翼模块2和第二旋翼模块3，第一旋翼模块2和第二旋翼模块3均包括至少一个旋翼，即本发明的无人机可以包括两个以上的旋翼；第一旋翼模块2和第二旋翼模块3分别铰接在无人机主体1的两侧，且第一旋翼模块2和第二旋翼模块3能够绕各自的铰接轴4转动，以便两者相互靠近而叠合或者相对远离而展开。
显然，第一旋翼模块2和第二旋翼模块3所包含旋翼的数量可以相同也可以不同，也就是说，本发明的无人机至少包括两个旋翼，旋翼的具体数量可以为奇数也可以为偶数，可以根据使用需要进行具体设置。可以理解的是，当第一旋翼模块2和第二旋翼模块3的数量相同时，两者能够完全对折，以提高叠合后的稳定性；同时，第一旋翼模块2和第二旋翼模块3可以关于无人机主体1对称设置，以便两者展开后形成对称结构的无人机整体，进而提高飞行稳定性。
需要指出的是，图1-6所示的实施方式中以旋翼部包括四个旋翼为例进行说明，即第一旋翼模块2和第二旋翼模块3均包括两个旋翼，两旋翼整体成型或者依次连接，第一旋翼模块2和第二旋翼模块3关于无人机主体1对称设置，即图1-6所示的是一个四旋翼的无人机；但是，本领域技术人员应该理解，本发明的无人机不限于四旋翼的结构，旋翼的个数以及布置形式可以根据需要进行设置，图1-6仅是本发明的一种具体形式，用于解释说明本发明的结构，不应理解为对本发明的限制。
如上文所述，本发明的无人机包括无人机主体1和旋翼部，其中，旋翼部包括第一旋翼模块2和第二旋翼模块3，两者分别铰接在无人机主体1的两侧，并能够绕各自的铰接轴4转动，以便第一旋翼模块2和第二旋翼模块3叠合而将无人机收折，或者第一旋翼模块2和第二旋翼模块3相互远离而将无人机展开。可见，本发明的无人机可以实现形态变换，以收折携带或展开后直接使用，具有较高的使用效率和良好的便携性，在较大程度上减小了无人机存放时所占用的空间，还不会影响无人机的正常使用；再者，无人机主体1可以用于内置各种控制模块以及动力源等部件，还可以将各旋翼的驱动集成后统一内置于所述无人机主体1内，不仅提高了无人机的集成度以及可控性，还辅助简化了旋翼的结构；另外，第一旋翼模块2和第二旋翼模块3的设置使得旋翼的相对运动更为简单可靠，无需对各旋翼单独设置收折部件或者设置可收折的旋翼，从而简化了无人机折叠与展开的便捷性。
为便于描述，可以第一旋翼模块2和第二旋翼模块3叠合时的相对面定义为两者的内面，与内面相对的另一面为外面；以铰接轴4的延伸方向为前后方向，则在平行于内面和外面的平面内，垂直于前后的方向为左右方向。
如图1所示，当第一旋翼模块2和第二旋翼模块3处于展开状态时，两者可以处于同一平面内，以形成平面结构的飞行器；此时，由于第一旋翼模块2和第二旋翼模块3在同一平面内延展，不存在重叠的区域，保证了各旋翼所占用空间的独立性，以增大旋翼与气流的接触面积，且能够避免各旋翼周围的气流相互干扰，进而产生足够的升力。
同时，第一旋翼模块2和第二旋翼模块3展开时，可以与无人机主体1的一面平行。如图1所示，第一旋翼模块2和第二旋翼模块3均可以安装于无人机主体1的其中一面上，此时，该面构成安装面，则第一旋翼模块2和第二旋翼模块3的外面均可以平行于所述安装面；同时，第一旋翼模块2和第二旋翼模块3可以拼接形成平板结构，而无人机主体1处于该平板结构的外面，则使用时可以两者的内面朝向下方，以便旋翼以气流充分接触，产生足够的升力，避免无人机主体1影响起升。也就是说，第一 旋翼模块2和第二旋翼模块3均可以安装于无人机主体1的一面，当两者展开后，可以平行于两者的安装面，以提高无人机的平整度，从而降低飞行阻力。
还可以对第一旋翼模块2和第二旋翼模块3以及无人机主体1的结构进行进一步的改进，使得无人机主体1处于第一旋翼模块2和第二旋翼模块3之间，当第一旋翼模块2和第二旋翼模块3展开后，可以与无人机主体1处于同一平面内，即第一旋翼模块2、第二旋翼模块3和无人机主体1共同形成一个平板结构，使得整个无人机以平板结构飞行，进而简化无人机的结构，降低飞行阻力。
本领域技术人员可以采用各种形式实现上述结构改进，例如，可以将第一旋翼模块2和第二旋翼模块3分别铰接在无人机主体1的两侧面，即图1中所示无人机主体1的左右两侧面，并将无人机主体1、第一旋翼模块2和第二旋翼模块3采用同一厚度设置，将第一旋翼模块2和第二旋翼模块3展开后即可与无人机主体1处于同一平面内；或者，可以对无人机主体1的结构进行改进，在无人机主体1的一面加工形成第一旋翼模块2和第二旋翼模块3的安装凹槽，以实现第一旋翼模块2和第二旋翼模块3的嵌入式安装，以便两者展平后能够与无人机主体1处于同一平面内。
如图2所示，可以在第一旋翼模块2与无人机主体1的相对面设置相互配合的第二定位件6，第二旋翼模块3与无人机主体1的相对面也可以设置所述第二定位件6；当第一旋翼模块2和第二旋翼模块3展开时，能够通过第二定位件6与无人机主体1固定。当第一旋翼模块2和第二旋翼模块3安装在无人机主体1的安装面时，所述相对面具体可以指第一旋翼模块2和第二旋翼模块3的外面与所述安装面；当两旋翼模块安装在无人机主体1的左右两侧面时，是指两旋翼模块的两侧面与无人机主体1对应侧的侧面。
所述第二定位件6可以为能够相互吸合的磁铁，如图2所示，可以将第一旋翼模块2和第二旋翼模块3设置在无人机主体1的一面，该面作为安装面，可以在第一旋翼模块2和第二旋翼模块3的外面设置磁铁，然后在无人机主体1的安装面上对应的位置也设置磁铁；当第一旋翼模块2和 第二旋翼模块3展开时，磁铁相互吸合，从而实现第一旋翼模块2与无人机主体1、第二旋翼模块3与无人机主体1的固定连接。采用磁铁作为第二定位件6，在需要第一旋翼模块2和第二旋翼模块3叠合时，可以施加一个较小的外力，以克服磁铁的吸合力，即可驱动第一旋翼模块2和第二旋翼模块3绕各自的铰接轴4转动，进而将两者叠合，操作简单便捷。
可以理解的是，第二定位件6的结构形式多样，不限于上述磁铁的具体形式。例如，可以在无人机主体1上设置轨道，然后在第一旋翼模块2和第二旋翼模块3上设置与所述轨道配合的移动件，可以在轨道的起始位置以及任何需要定位的位置设置卡扣等限位件；当第一旋翼模块2和第二旋翼模块3绕各自的铰接轴4转动时，移动件沿轨道运动，当转动到需要定位的位置时，可以通过限位件限制移动件的运动，从而实现在该位置的定位，此时，所述移动件、轨道以及限位件共同构成所述第二定位件6。或者，还可以通过卡扣与弹簧配合的形式作为所述第二定位件6，不需要定位时，卡扣通过弹簧进行固定，不会对第一旋翼模块2和第二旋翼模块3产生作用；当第一旋翼模块2和第二旋翼模块3运动到任何需要与无人机主体1定位的位置时，可以触发弹簧将卡扣弹出，以扣死第一旋翼模块2和第二旋翼模块3，从而将两者固定在该位置。还可以在第一旋翼模块2与无人机主体1之间、第二旋翼模块3与无人机主体1之间设置拉簧，通过拉簧的拉紧力实现定位，即第二定位件6可以为拉簧；或者，第二定位件6可以为固定夹，当第一旋翼模块2和第二旋翼模块3运动到需要与无人机主体1固定的位置时，可以手动或者自动夹紧第一旋翼模块2与无人机主体1、或第二旋翼模块3与无人机主体1。
或者可以采用其他结构实现定位，不限于在第一旋翼模块2与无人机主体1的相对面、第二旋翼模块3与无人机主体1的相对面设置定位件。例如，可以通过电机-齿轮或凸轮或皮带轮-推杆的配合形式驱动第一旋翼模块2和第二旋翼模块3转动，则此时，可以利用电机将推杆锁定在任意所需的位置；还可以将第一旋翼模块2和第二旋翼模块3设置为可自锁的活页结构，以便在需要定位的位置进行固定；或者可以对所述铰接轴4进行改进，以便通过铰接轴4与第一旋翼模块2和第二旋翼模块3的摩擦力 实现定位。
显然，本文中的第一旋翼模块2和第二旋翼模块3可以采用相同的结构实现与无人机主体1的定位，也可以采用不同的结构，还可以仅其中一者采用定位结构与无人机主体1固定。
进一步，如图3所示，可以在第一旋翼模块2与第二旋翼模块3的相对面设置相互配合的第一定位件5，当两者叠合时，可以通过第一定位件5固定。此处所述相对面是指两旋翼模块的内面。如图3所述，第一定位件5也可以为磁铁，可以在第一旋翼模块2和第二旋翼模块3的对应位置设置磁铁，当两者叠合时通过磁铁吸合定位。本领域技术人员可以根据需要设置磁铁的个数以及位置，例如，可以将磁铁设置在远离铰接轴4的一边，还可以在该边的延伸方向间隔设置若干个磁铁，且间距可以相等或者根据需要调整；图3所示的实施方式中以设置四个磁铁为例进行说明，磁铁可以处于内面的左右两边。本领域技术人员也可以根据需要设置第二定位件6中磁铁的个数以及布置位置；第一定位件5和第二定位件6的结构形式可以类似，即本领域技术人员可以参照上文关于第二定位件6的描述设置第一定位件5，此处不再赘述。
如图4所示，本领域技术人员可以对第一旋翼模块2、第二旋翼模块3以及无人机主体1的结构进行具体设置。无人机主体1的垂向(即内外方向)截面可以呈T字型，T字型的竖部可以用于安装铰接轴4，铰接轴4可以大体沿平行于T字型的横部的方向延伸，且铰接轴4可以由T字型的竖部沿横向向两端延伸，即图4中的前后方向；此时，铰接轴4的两端可以形成连接端41，第一旋翼模块2可以其前后两端分别与其同侧的铰接轴4的连接端41铰接，第二旋翼模块3也可以与其同侧的铰接轴4的两连接端41铰接。可以理解，铰接轴4具体可以贯穿T字型的竖部，也可以仅包括设置在竖部两端的连接端41部，只要第一旋翼模块2和第二旋翼模块3能够与各自对应的连接端41形成铰接，以便绕所述连接端41转动即可，此时，处于两端的连接端41同轴设置，两者的连线即可铰接轴4线，相当于铰接轴4。
还可以将T字型的底面作为所述安装面；两铰接轴4可以分别设置在 安装面的两侧，即图4所示的左右两侧。不管采用哪种结构，均可以使得第一旋翼模块2和第二旋翼模块3展开后与T字型的横部平行贴合，如图1所示。
进一步，第一旋翼模块2和第二旋翼模块3均可以设置为类似门板状的结构，如图1-6所示。以下仅以第一旋翼模块2的结构进行说明，第二旋翼模块3可以参照第一旋翼模块2进行设置。第一旋翼模块2可以包括框架，框架可以设置为类似门框的结构，在框架具有两个安装腔，用于安装旋翼；以第一旋翼模块2设置在无人机主体1的左侧为例，则可以在框架的左侧设置U型槽，U型槽的开口朝向无人机主体1上左侧的铰接轴4，以容纳铰接轴4；如上所述，当无人机主体1的垂向截面呈T字型时，U型槽的开口还可以容纳T字型的竖部，进一步简化结构；U型槽可以其两侧壁与铰接轴4的两端连接，形成图1-3所示的整体结构。
此外，第一旋翼模块2和第二旋翼模块3叠合时，两者的外侧面可以均不超出无人机主体1的外侧面，即第一旋翼模块2和第二旋翼模块3处于无人机主体1的内侧，以形成体积较小且便于携带的折叠结构。在图1-6所示的实施方式中，所述无人机主体1的外侧面是指其左右两侧面，即处于左侧的第一旋翼模块2的外侧面位于无人机主体1的左侧面的右侧或者与无人机主体1的左侧面平齐；处于右侧的第二旋翼模块3的外侧面位于无人机主体1的右侧面的左侧或者与无人机主体1的右侧面平齐。也就是说，当无人机叠合时，第一旋翼模块2和第二旋翼模块3可以收纳至无人机主体1的内侧。
当采用图4所示的结构时，第一旋翼模块2和第二旋翼模块3靠近无人机主体1的一侧可以设置U型槽，此时，无人机主体1可以伸入两侧的U型槽内；当叠合时，第一旋翼模块2和第二旋翼模块3朝向U型槽的方向向内翻折，则处于无人机主体1外侧的部分逐渐向内收纳，最终收纳至无人机主体1的内侧。在图4所示的实施方式中，所述无人机主体1的内侧即处于无人机主体1的左右两侧面之间，也就是说，处于左右两侧的第一旋翼模块2和第二旋翼模块3可以向中间转动，最终两者叠合形成左右方向不超出无人机主体1左右两边的折板状结构。
在上述基础上，第一旋翼模块2还可以设置第一齿轮7，第二旋翼模块3可以设置第二齿轮8，第一齿轮7和第二齿轮8可以相互啮合，且第一齿轮7和第二齿轮8的轴线分别平行于与各自同侧的铰接轴4。那么，当其中一个旋翼模块绕其铰接轴4转动时，便可以带动与其连接的齿轮转动，而由于两个齿轮啮合，如果其中一个齿轮转动，另一个齿轮也会随之转动，进而带动另一个旋翼模块转动；换言之，第一齿轮7和第二齿轮8的设置可以保证第一旋翼模块2和第二旋翼模块3转动的同步性，进而保证在叠合和展开过程中，第一旋翼模块2和第二旋翼模块3相对无人机主体1的角度始终保持一致，提高无人机的稳定性。
再者，第一旋翼模块2可以通过第一齿轮7实现与无人机主体1的铰接，同理，第二旋翼模块3也可以通过第二齿轮8实现与无人机主体1的铰接。如图4所示，两所述铰接轴4可以设置在无人机主体1上，则第一齿轮7可以套装在与其同侧的铰接轴4上，第二齿轮8可以套装在与其同侧的铰接轴4上，第一齿轮7和第二齿轮8均可以相对于各自的铰接轴4转动，则第一旋翼模块2和第二旋翼模块3通过与各自对应的齿轮实现了与无人机主体1的铰接。第一齿轮7和第二齿轮8可以设置为环形结构，在外环上设置可以相互啮合的齿纹即可，内圈可以直接套装在铰接轴4上。如上文所述，铰接轴4可以为仅包括两个连接端41，一个连接端41相当于一个短轴，此时的连接端41可以采用类似套筒状的结构，然后可以将第一齿轮7和第二齿轮8套装在相应的套筒上；为提高连接可靠性，每个连接端41均可以通过齿轮的形式实现铰接，本领域技术人员也可以根据旋翼的个数设置连接端41的个数。
所述第一齿轮7和第二齿轮8均可以与各自相应的旋翼模块一体成型，或者采用螺接、销接等可拆卸的连接方式进行连接。如图4所示，可以在第一旋翼模块2和第二旋翼模块3上设置螺孔9，并在第一齿轮7和第二齿轮8上设置相应的螺纹连接孔，以便通过螺钉实现第一齿轮7与第一旋翼模块2、第二齿轮8与第二旋翼模块3的连接。
以上在图1-4所示的实施方式中，第一旋翼模块2和第二旋翼模块3均包括两个旋翼，且两旋翼可以整体成型或相互连接，形成直线状的结构； 当然，本领域技术人员也可以根据需要设置各旋翼的排列方式以及旋翼的个数。
请进一步参考图5和图6，本发明的第一旋翼模块2和第二旋翼模块3中，两相邻的旋翼之间可以采用铰接的连接方式，即就单个旋翼模块而言，当包括两个以上的旋翼时，各旋翼也可以采用铰接的方式进行连接。还是以第一旋翼模块2和第二旋翼模块3各包括两个旋翼为例，第一旋翼模块2可以包括旋翼A和旋翼B，第二旋翼模块3可以包括旋翼C和旋翼D；可以将旋翼B和旋翼C作为基础旋翼，将旋翼A和旋翼D作为折叠旋翼；旋翼B和旋翼C之间设有所述无人机主体1，将两者分别与无人机主体1的两侧铰接，以实现第一旋翼模块2和第二旋翼模块3与无人机主体1的铰接。为便于描述，以图6中的上下方向进行说明；进行折叠时，可以首先将旋翼D向下翻转而叠合至旋翼C的下方，然后将旋翼B叠合至旋翼C的上方，再将旋翼A向上翻折而叠合至旋翼B的上方，由此形成图6中最左侧所示的层叠结构；展开时按照相反顺序进行即可。
或者，也可以将旋翼A先叠合至旋翼B上，将旋翼D叠合至旋翼C的下方，然后再将旋翼B和旋翼C叠合，展开时也是按照相反顺序进行。
当折叠旋翼设置为两个以上时，可以按照顺序依次将折叠旋翼叠合至基础旋翼上，或者按照相反顺序将折叠旋翼由基础旋翼展开。此外，图6中以虚线框表示各旋翼的铰接时的连接轴。
需要说明的是，此处为简化结构，图5和图6中没有示出无人机主体1。本领域技术人员也可以根据需要省略所述无人机主体1，直接将各旋翼依次铰接，铰接的形式可以采用类似上文所述的铰接轴4的结构。
以上对本发明所提供可折叠的无人机进行了详细介绍。本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求的保护范围内。

Claims (10)

  1. 一种可折叠的无人机，包括无人机主体(1)和与其连接的旋翼部，其特征在于，所述旋翼部包括分别具有至少一个旋翼的第一旋翼模块(2)和第二旋翼模块(3)，所述第一旋翼模块(2)和所述第二旋翼模块(3)分别铰接在所述无人机主体(1)的两侧，以便两者绕各自的铰接轴(4)转动而叠合或展开。
  2. 如权利要求1所述的可折叠的无人机，其特征在于，所述第一旋翼模块(2)和所述第二旋翼模块(3)的相对面设有相互配合的第一定位件(5)，以便两者叠合时通过所述第一定位件(5)固定。
  3. 如权利要求1所述的可折叠的无人机，其特征在于，所述第一旋翼模块(2)与所述无人机主体(1)的相对面、和/或所述第二旋翼模块(3)与所述无人机主体(1)的相对面设有相互配合的第二定位件(6)，以便所述第一旋翼模块(2)和所述第二旋翼模块(3)展开时通过所述第二定位件(6)与所述无人机主体(1)固定。
  4. 如权利要求1所述的可折叠的无人机，其特征在于，所述第一旋翼模块(2)和所述第二旋翼模块(3)能够展开至同一平面内；和/或，
    所述第一旋翼模块(2)和所述第二旋翼模块(3)能够展开至与所述无人机主体(1)处于同一平面或展开后形成的平面平行于所述无人机主体(1)的一面。
  5. 如权利要求4所述的可折叠的无人机，其特征在于，所述无人机主体(1)的垂向截面呈T字型，所述铰接轴(4)由所述T字型的竖部两端延伸，以形成用于连接所述第一旋翼模块(2)或第二旋翼模块(3)的连接端(41)；所述第一旋翼模块(2)和所述第二旋翼模块(3)展开后与所述T字型的横部平行贴合。
  6. 如权利要求1所述的可折叠的无人机，其特征在于，所述第一旋翼模块(2)和所述第二旋翼模块(3)叠合时，两者的外侧面均不超出所述无人机主体(1)的外侧面。
  7. 如权利要求1-6任一项所述的可折叠的无人机，其特征在于，所述第一旋翼模块(2)设有第一齿轮(7)，所述第二旋翼模块(3)设有与所 述第一齿轮(7)啮合的第二齿轮(8)，所述第一齿轮(7)和所述第二齿轮(8)的轴线分别与各自同侧的所述铰接轴(4)平行。
  8. 如权利要求7所述的可折叠的无人机，其特征在于，两所述铰接轴(4)设置在所述无人机主体(1)上，所述第一齿轮(7)和所述第二齿轮(8)分别与各自同侧的所述铰接轴(4)套装铰接。
  9. 如权利要求6所述的可折叠的无人机，其特征在于，所述第一旋翼模块(2)和所述第二旋翼模块(3)均包括至少两个相互连接的旋翼，且各所述旋翼呈直线排列。
  10. 如权利要求9所述的可折叠的无人机，其特征在于，所述第一旋翼模块(2)和所述第二旋翼模块(3)中，两相邻的所述旋翼之间铰接，且其中一个旋翼构成基础旋翼，其他旋翼构成折叠旋翼，所述第一旋翼模块(2)和所述第二旋翼模块(3)通过所述基础旋翼与所述无人机主体(1)铰接；各所述折叠旋翼能够依次叠合至所述基础旋翼或由所述基础旋翼依次展开。
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