WO2017113090A1 - Mécanisme de rotor, dispositif de rotation, véhicule aérien sans pilote, et système de commande et procédé de fonctionnement pour ce dernier - Google Patents

Mécanisme de rotor, dispositif de rotation, véhicule aérien sans pilote, et système de commande et procédé de fonctionnement pour ce dernier Download PDF

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Publication number
WO2017113090A1
WO2017113090A1 PCT/CN2015/099384 CN2015099384W WO2017113090A1 WO 2017113090 A1 WO2017113090 A1 WO 2017113090A1 CN 2015099384 W CN2015099384 W CN 2015099384W WO 2017113090 A1 WO2017113090 A1 WO 2017113090A1
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WO
WIPO (PCT)
Prior art keywords
blade
fastener
driving member
elastic
resisting
Prior art date
Application number
PCT/CN2015/099384
Other languages
English (en)
Chinese (zh)
Inventor
邓雨眠
黄淮
宋鹏
Original Assignee
深圳市大疆创新科技有限公司
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
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201580067015.2A priority Critical patent/CN107406140B/zh
Priority to PCT/CN2015/099384 priority patent/WO2017113090A1/fr
Publication of WO2017113090A1 publication Critical patent/WO2017113090A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
    • B64C11/16—Blades
    • B64C11/20—Constructional features
    • B64C11/28—Collapsible or foldable blades
    • 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

Definitions

  • the present invention relates to a blade assembly, and a rotor mechanism, a rotating device and a drone using the same, and a drone control system and a control method.
  • the rotor mechanism is used as a propulsion device for a rotary-wing UAV. Its quality requirements are very demanding. It must not only provide suitable propulsion at higher speeds, but also ensure safety at high speeds without causing drones. Damage to itself and/or damage to other objects by the drone.
  • the rotor mechanism generally includes a motor and a propeller.
  • the propeller is disposed on the rotating shaft of the motor, and the rotating shaft of the motor drives the propeller to rotate to generate a propulsive force.
  • the blades of the propeller are usually hinged to the motor, and in the non-operating state, the blades of the propeller are in a folded closed state with respect to the motor; when needed, the The motor shaft rotates, and the blades of the propeller are unfolded and rotated relative to the motor under the action of centrifugal force to generate propulsive force.
  • the hinge pretension between the two is difficult to control. If the pre-tightening force of the hinge is too large, the blades of the propeller are difficult to deploy relative to the motor under the centrifugal force, which affects the flight of the drone. If the pre-tightening force of the hinge is too small, the blade connection of the propeller is loosened, which may cause vibration or even a risk of propellering during the flight of the drone, which has potential safety hazards and is not conducive to The storage and carrying of the drone.
  • a rotor mechanism includes a driving member and a blade assembly disposed on the driving member; the blade assembly includes a mounting seat and a blade, and the blade is rotatably disposed on the mounting seat, the mounting seat comprising: a fastener, the blade assembly being coupled to the drive member by the fastener; and a resisting member resiliently resisting the blade under the action of the fastener to cause the blade
  • the rotation relative to the drive member has a predetermined rotational resistance.
  • the driving member can drive the blade assembly to rotate, and when the rotating speed of the driving member reaches a preset speed, the blade can overcome the rotational resistance under the action of the rotating centrifugal force and the driving member is opened to the unfolding state from the closed state. status.
  • the resisting member is elastically deformed to provide an elastic force in the direction of the rotation axis of the blade to the blade.
  • the fastener is threaded through the blade to pivot the blade to the driving member.
  • the fastener is a screw and is screwed to the driving member.
  • the fastener includes a positioning portion for defining a mounting position of the fastener with respect to the driving member.
  • the fastener further includes a connecting portion disposed on the positioning portion, the connecting portion is screwed with the driving member, and the positioning portion is configured to define the fastener at the driving portion The depth of the screw on the piece.
  • the resisting member is disposed on the fastener and abuts against the blade to apply an elastic resisting force to the blade.
  • the resisting member is at least one of the following elastic structures: a spring piece, an elastic sleeve, and a coil spring.
  • the fastener is provided with a limiting portion
  • the resisting member is disposed on the fastener and elastically resists the limiting portion and the blade respectively.
  • one end of the resisting member abuts on the blade, and the other end abuts against the driving member to apply an elastic resisting force to the blade.
  • the mount further includes a connecting member, the fastener is disposed through the blade and the connecting member to rotatably mount the blade on the connecting member.
  • the connecting member is provided with a through hole, and when the blade assembly is mounted on the driving member, the rotating shaft of the driving member protrudes into the through hole.
  • fastener and the blade are each provided, and each of the fasteners pivotally connects one of the blades to the connecting member.
  • the resisting member is an arched elastic piece, and two ends of the elastic piece are respectively sleeved on the fastener, so that both ends of the resisting member are elastically abutted against the blade, so as to The blade exerts an elastic abutting force.
  • the middle position of the resisting member is an arched portion, and the arched portion elastically abuts against the driving member.
  • the resisting member is provided with a first through hole, and when the blade assembly is mounted on the driving member, the rotating shaft of the driving member protrudes into the first through hole.
  • the mounting base further includes a limiting member disposed on the connecting member, the limiting member is connected to the connecting member at one end and connected to the resisting member at the other end to limit the The elastic deformation of the resisting member.
  • the limiting member is provided with a second through hole, and when the blade assembly is mounted on the driving member, the rotating shaft of the driving member protrudes into the second through hole.
  • the resisting member includes an elastic portion
  • the blade is rotatably disposed on the elastic portion
  • the elastic portion elastically abuts the blade against the driving member to make the blade
  • the rotation has a predetermined rotational resistance
  • the resisting member further includes a mounting portion disposed on the elastic portion, and the fastener is disposed on the mounting portion.
  • the number of the mounting portion and the fastener are two, and the two mounting portions are respectively disposed on two sides of the elastic portion, and each of the fasteners is disposed in one of the fasteners.
  • the mounting portion is configured to mount the resisting member on the driving member.
  • the resisting member is provided with a through hole, and when the blade assembly is mounted on the driving member, the rotating shaft of the driving member protrudes into the through hole.
  • a blade assembly includes a mount and a blade, the blade being rotatably disposed on the mount.
  • the mount includes: a fastener, the blade assembly is coupled to an outer article by the fastener; and a resisting member elastically resisting the blade under the action of the fastener, The rotation of the blade relative to the outer article has a predetermined rotational resistance.
  • the blade assembly is rotatable by the external object, and when the external object speed reaches a preset speed, the blade can overcome the rotation resistance and the driving member is closed by the rotating centrifugal force. Open to the expanded state.
  • the resisting member is elastically deformed to provide an elastic force in the direction of the rotation axis of the blade to the blade.
  • the fastener is threaded through the blade to pivot the blade to the external object.
  • the fastener is a screw and is used for screwing with the external object.
  • the fastener includes a positioning portion for defining a mounting position of the fastener relative to the external article.
  • the fastener further includes a connecting portion disposed on the positioning portion, the connecting portion is configured to be screwed with the external object, and the positioning portion is configured to define the fastener in the The depth of the screw on the external object.
  • the resisting member is disposed on the fastener and abuts against the blade to apply an elastic resisting force to the blade.
  • the resisting member is at least one of the following elastic structures: a spring piece, an elastic sleeve, and a coil spring.
  • the fastener is provided with a limiting portion
  • the resisting member is disposed on the fastener and elastically resists the limiting portion and the blade respectively.
  • one end of the resisting member abuts on the blade, and the other end is used to abut against the external object to apply an elastic resisting force to the blade.
  • the mount further includes a connecting member, the fastener is disposed through the blade and the connecting member to rotatably mount the blade on the connecting member.
  • the connecting member is provided with a through hole, and when the blade assembly is mounted on the external object, the through hole allows the rotating shaft of the external object to protrude therein.
  • fastener and the blade are each provided, and each of the fasteners pivotally connects one of the blades to the connecting member.
  • the resisting member is an arched elastic piece, and two ends of the elastic piece are respectively sleeved on the fastener, so that both ends of the resisting member are elastically abutted against the blade, so as to The blade exerts an elastic abutting force.
  • the middle position of the resisting member is an arched portion, and the arched portion is elastically resistable on the external object.
  • the resisting member is provided with a first through hole, and when the blade assembly is mounted on the external object, the rotating shaft of the external object protrudes into the first through hole.
  • the mounting base further includes a limiting member disposed on the connecting member, the limiting member is connected to the connecting member at one end and connected to the resisting member at the other end to limit the The elastic deformation of the resisting member.
  • the limiting member is provided with a second through hole, and the second through hole allows the rotating shaft of the external object to protrude therein when the blade assembly is mounted on the external object.
  • the resisting member includes an elastic portion, and the blade is rotatably disposed on the elastic portion, and the elastic portion is configured to elastically abut the blade against the external object, so as to The rotation of the blade has a predetermined rotational resistance.
  • the resisting member further includes a mounting portion disposed on the elastic portion, and the fastener is disposed on the mounting portion.
  • the number of the mounting portion and the fastener are two, and the two mounting portions are respectively disposed on two sides of the elastic portion, and each of the fasteners is disposed in one of the fasteners.
  • the mounting portion is configured to mount the resisting member on the outer object.
  • the resisting member is provided with a through hole, and the through hole allows the rotating shaft of the external object to protrude therein when the blade assembly is mounted on the external object.
  • a drone includes at least one rotor mechanism including a drive member and a blade assembly disposed on the drive member; the blade assembly including a mount and a blade.
  • the blade is rotatably disposed on the mount, the mount includes: a fastener, the blade assembly is coupled to the drive member by the fastener; and a resisting member at the The fastener is elastically resisted against the blade to have a predetermined rotational resistance of the blade relative to the rotation of the driving member;
  • the driving member can drive the blade assembly to rotate, and when the rotating speed of the driving member reaches a preset speed, the blade can overcome the rotational resistance under the action of the rotating centrifugal force and the driving member is opened to the unfolding state from the closed state. status.
  • the resisting member is elastically deformed to provide an elastic force in the direction of the rotation axis of the blade to the blade.
  • the fastener is threaded through the blade to pivot the blade to the driving member.
  • the fastener is a screw and is screwed to the driving member.
  • the fastener includes a positioning portion for defining a mounting position of the fastener with respect to the driving member.
  • the fastener further includes a connecting portion disposed on the positioning portion, the connecting portion is screwed with the driving member, and the positioning portion is configured to define the fastener at the driving portion The depth of the screw on the piece.
  • the resisting member is disposed on the fastener and abuts against the blade to apply an elastic resisting force to the blade.
  • the resisting member is at least one of the following elastic structures: a spring piece, an elastic sleeve, and a coil spring.
  • the fastener is provided with a limiting portion
  • the resisting member is disposed on the fastener and elastically resists the limiting portion and the blade respectively.
  • one end of the resisting member abuts on the blade, and the other end abuts against the driving member to apply an elastic resisting force to the blade.
  • the mount further includes a connecting member, the fastener is disposed through the blade and the connecting member to rotatably mount the blade on the connecting member.
  • the connecting member is provided with a through hole, and when the blade assembly is mounted on the driving member, the rotating shaft of the driving member protrudes into the through hole.
  • fastener and the blade are each provided, and each of the fasteners pivotally connects one of the blades to the connecting member.
  • the resisting member is an arched elastic piece, and two ends of the elastic piece are respectively sleeved on the fastener, so that both ends of the resisting member are elastically abutted against the blade, so as to The blade exerts an elastic abutting force.
  • the middle position of the resisting member is an arched portion, and the arched portion elastically abuts against the driving member.
  • the resisting member is provided with a first through hole, and when the blade assembly is mounted on the driving member, the rotating shaft of the driving member protrudes into the first through hole.
  • the mounting base further includes a limiting member disposed on the connecting member, the limiting member is connected to the connecting member at one end and connected to the resisting member at the other end to limit the The elastic deformation of the resisting member.
  • the limiting member is provided with a second through hole, and when the blade assembly is mounted on the driving member, the rotating shaft of the driving member protrudes into the second through hole.
  • the resisting member includes an elastic portion
  • the blade is rotatably disposed on the elastic portion
  • the elastic portion elastically abuts the blade against the driving member to make the blade
  • the rotation has a predetermined rotational resistance
  • the resisting member further includes a mounting portion disposed on the elastic portion, and the fastener is disposed on the mounting portion.
  • the number of the mounting portion and the fastener are two, and the two mounting portions are respectively disposed on two sides of the elastic portion, and each of the fasteners is disposed in one of the fasteners.
  • the mounting portion is configured to mount the resisting member on the driving member.
  • the resisting member is provided with a through hole, and when the blade assembly is mounted on the driving member, the rotating shaft of the driving member protrudes into the through hole.
  • the drone further includes a body and an arm connected to the body by the arm, and the rotor mechanism is distributed around the body through the arm.
  • the arm includes a main arm and an arm, one end of the main arm is connected to the fuselage, and the other end is connected to the arm, and the rotor mechanism is located at an end of the arm.
  • the number of the rotor mechanisms is four, and the four rotor mechanisms are distributed in a rectangular area around the fuselage, and the adjacent rotor mechanisms have different directions of rotation during operation.
  • the drone further includes a flight controller for controlling the driving member to rotate to the preset speed to drive the blade assembly to automatically expand into a propeller shape, thereby The man-machine provides the driving force for travel.
  • the driving member is a brushless motor
  • the rotor mechanism further includes an electronic governor for controlling the operation of the brushless motor, and the electronic governor is electrically connected to the flight controller.
  • a rotating device includes a driving member and a blade assembly disposed on the driving member; the blade assembly includes a mounting seat and a blade, and the blade is rotatably disposed on the mounting seat, the mounting seat comprising: a fastener, the blade assembly being coupled to the drive member by the fastener; and a resisting member resiliently resisting the blade under the action of the fastener to cause the blade
  • the rotation relative to the drive member has a predetermined rotational resistance.
  • the driving member can drive the blade assembly to rotate, and when the rotating speed of the driving member reaches a preset speed, the blade can overcome the rotational resistance under the action of the rotating centrifugal force and the driving member is opened to the unfolding state from the closed state. status.
  • the resisting member is elastically deformed to provide an elastic force in the direction of the rotation axis of the blade to the blade.
  • the fastener is threaded through the blade to pivot the blade to the driving member.
  • the fastener is a screw and is screwed to the driving member.
  • the fastener includes a positioning portion for defining a mounting position of the fastener with respect to the driving member.
  • the fastener further includes a connecting portion disposed on the positioning portion, the connecting portion is screwed with the driving member, and the positioning portion is configured to define the fastener at the driving portion The depth of the screw on the piece.
  • the resisting member is disposed on the fastener and abuts against the blade to apply an elastic resisting force to the blade.
  • the resisting member is at least one of the following elastic structures: a spring piece, an elastic sleeve, and a coil spring.
  • the fastener is provided with a limiting portion
  • the resisting member is disposed on the fastener and elastically resists the limiting portion and the blade respectively.
  • one end of the resisting member abuts on the blade, and the other end abuts against the driving member to apply an elastic resisting force to the blade.
  • the mount further includes a connecting member, the fastener is disposed through the blade and the connecting member to rotatably mount the blade on the connecting member.
  • the connecting member is provided with a through hole, and when the blade assembly is mounted on the driving member, the rotating shaft of the driving member protrudes into the through hole.
  • fastener and the blade are each provided, and each of the fasteners pivotally connects one of the blades to the connecting member.
  • the resisting member is an arched elastic piece, and two ends of the elastic piece are respectively sleeved on the fastener, so that both ends of the resisting member are elastically abutted against the blade, so as to The blade exerts an elastic abutting force.
  • the middle position of the resisting member is an arched portion, and the arched portion elastically abuts against the driving member.
  • the resisting member is provided with a first through hole, and when the blade assembly is mounted on the driving member, the rotating shaft of the driving member protrudes into the first through hole.
  • the mounting base further includes a limiting member disposed on the connecting member, the limiting member is connected to the connecting member at one end and connected to the resisting member at the other end to limit the The elastic deformation of the resisting member.
  • the limiting member is provided with a second through hole, and when the blade assembly is mounted on the driving member, the rotating shaft of the driving member protrudes into the second through hole.
  • the resisting member includes an elastic portion
  • the blade is rotatably disposed on the elastic portion
  • the elastic portion elastically abuts the blade against the driving member to make the blade
  • the rotation has a predetermined rotational resistance
  • the resisting member further includes a mounting portion disposed on the elastic portion, and the fastener is disposed on the mounting portion.
  • the number of the mounting portion and the fastener are two, and the two mounting portions are respectively disposed on two sides of the elastic portion, and each of the fasteners is disposed in one of the fasteners.
  • the mounting portion is configured to mount the resisting member on the driving member.
  • the resisting member is provided with a through hole, and when the blade assembly is mounted on the driving member, the rotating shaft of the driving member protrudes into the through hole.
  • a method for controlling a drone for controlling movement of a rotor mechanism of a drone the rotor mechanism comprising a driving member and a blade assembly disposed on the driving member, the blade of the blade assembly being opposite to the driving member
  • the rotation has a predetermined rotational resistance;
  • the drone control method includes the steps of: the driving member drives the blade assembly to rotate; the rotational speed of the driving member reaches a preset speed, so that the blade rotates the centrifugal force Next, it is automatically opened from the collapsed state to the expanded state.
  • the rotational speed of the driving member is obtained, and it is determined whether the speed reaches a preset speed. If not, the driving member is driven to accelerate the rotation.
  • controlling the rotational speed of the driving member is always greater than the preset speed.
  • the blades are closed, and the blades are automatically positioned in the closed state under the action of rotational resistance.
  • An unmanned aerial vehicle control system for use on an unmanned rotor mechanism, the rotor mechanism including a drive member and a blade assembly disposed on the drive member, the blade of the blade assembly being rotated relative to the drive member Having a predetermined rotational resistance;
  • the UAV control system includes: a speed control module for driving the driving member to rotate to drive the blade assembly to rotate; and a detecting module for detecting a rotational speed of the driving member And a control module, configured to control the speed control module to drive the driving member to accelerate the rotation until the rotation speed of the driving member reaches the preset speed when the rotation speed of the driving member does not reach a preset speed.
  • the hinge between the blade assembly and the driving member is relatively reliable and not easy to loose, and can be smoothly deployed under the action of centrifugal force.
  • Fig. 1 is a perspective view of a drone according to an embodiment of the present invention.
  • Fig. 2 is a perspective view of the blade assembly in the first embodiment of the present invention.
  • Figure 3 is a perspective view of a blade assembly in a second embodiment of the present invention.
  • Figure 4 is a perspective view of a blade assembly in a third embodiment of the present invention.
  • Fig. 5 is a functional block diagram of a drone control system according to an embodiment of the present invention.
  • FIG. 6 is a schematic flow chart of a drone control method according to an embodiment of the present invention.
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • the drone 100 of the embodiment of the present invention is a rotary wing unmanned aerial vehicle capable of flying and hovering in the air to perform specific tasks, such as flight, tracking, monitoring, exploration, Search and rescue, sowing, spraying pesticides, fire fighting, aerial photography, etc.
  • a predetermined functional module such as a sensor, a photographing device, a medicine box, or the like can be mounted on the drone 100 to achieve a specific function.
  • the drone 100 is used to mount a photographing device (not shown), so that the drone 100 realizes an aerial photographing function, and the photographing device is connected through a pan/tilt (not shown).
  • the pan/tilt can adjust a shooting direction and/or a pitch angle of the photographing device and can provide a shock absorbing function for the photographing device.
  • the drone 100 of an embodiment of the present invention includes a fuselage 10, a boom 20, and a rotor mechanism 30.
  • the arm 20 is coupled to the body 10, and the rotor mechanism 30 is distributed around the body 10 by the arm 20.
  • the drone 100 is a quadrotor unmanned aerial vehicle, so the number of the rotor mechanisms 30 is four, and the four rotor mechanisms 30 are distributed in a rectangular area around the fuselage 10, And each of the rotor mechanisms 30 is located at one vertex of the rectangle.
  • the rotor mechanisms 30 on the same side of the rectangle have different directions of rotation during operation, and are located in the pair of rectangles.
  • the direction of rotation of the rotor mechanisms 30 on the angular line is the same, that is, the rotational directions of the oppositely disposed rotor mechanisms 30 are the same.
  • the number of the rotor mechanisms 30 can be changed accordingly according to different requirements.
  • the number of the rotor mechanisms 30 can be two, three, six, eight, sixteen, etc., even The number of rotor mechanisms 30 may be only one.
  • the airframe 10 is a carrier of the drone 100, and components such as a sensor, a circuit board, a processor, a communication module, and a battery can be carried on or in the body 10.
  • the body 10 includes a housing 11 having a receiving space (not shown) for receiving the components.
  • the outer casing 11 is streamlined to reduce air resistance during flight.
  • the outer casing 11 can have other shapes, such as polygonal, circular, elliptical, and the like. It can be understood that the outer casing 11 can also be omitted, and the fuselage 10 is formed by a bracket.
  • the arm 20 is used to support the rotor mechanism 30 and distribute the rotor mechanism 30 around the fuselage 10 in a predetermined pattern.
  • the number of the arms 20 is two, and each arm 20 is used to support two of the rotor mechanisms 30.
  • Each of the arms 20 includes a main arm 21 and an arm 22, one end of which is connected to the body 10, and the other end is connected to the arm 22, the main arm 21 and the branch The arms 22 are connected to each other in a "T" shape.
  • Two of the rotor mechanisms 30 corresponding to each of the arms 20 are respectively disposed at opposite ends of the corresponding arms 22.
  • the number of the arms 20 may be the same as the number of the rotor mechanisms 30, that is, each of the arms 20 supports one of the rotor mechanisms 30, and at this time, the arms 22 may Occasionally, the rotor mechanism 30 is directly disposed at the end of the main arm 21.
  • the arm 20 can be omitted.
  • the rotor mechanism 30 can be directly disposed on the body 10.
  • the arm 20 may also be a support arm extending from the body 10, and a plurality of the support arms extend from the periphery of the body 10 and the body 10 Fixed connection or integral molding.
  • the number of support arms is the same as the number of the rotor mechanisms 30, i.e., each of the support arms supports one of the rotor mechanisms 30.
  • the rotor mechanism 30 includes a drive member 32 and a blade assembly 34.
  • the drive member 32 is mounted on the arm 20, and the blade assembly 34 and the drive member 32 are detachably coupled to each other.
  • the driving member 32 is a motor, which may be any suitable type of motor such as a brushless motor or a brushed motor.
  • the blade assembly 34 is a propeller that is rotated by the drive member 32 to provide the drone 100 with the power to travel.
  • FIG. 2 is a schematic perspective view showing the assembly of the blade assembly 34 according to the first embodiment of the present invention.
  • the blade assembly 34 includes a blade 36 and a mount 38.
  • the blade 36 is rotatably mounted on the driving member 32 through the mounting seat 38, and the mounting seat 38 is elastically pressed against the blade 36, so that When the blade 36 is hinged to the driving member 32, the connection between the driving member 32 and the driving member 32 is elastically connected, and a rotation axis along the blade 36 exists between the blade 36 and the driving member 32.
  • the elastic preload of the direction is such that the blade 36 can be securely folded in the non-operating state or automatically unfolded relative to the driving member 32 due to centrifugal force during rotation.
  • each of the blade assemblies 34 includes two of the blades 36.
  • Two of the vanes 26 are symmetrically mounted on the mount 38.
  • Each of the vanes 36 includes a mounting portion 361 and a blade portion 363 provided on the mounting portion 361.
  • the mounting portion 361 serves as a petiole of the vane 36 that is rotatably coupled to the mount 38.
  • the blade portion 363 serves as a paddle of the propeller, which is driven by the driving member 32 to provide the drone 100 with the driving force by the driving force of the airflow.
  • the mount 38 includes a connector 381, a fastener 383, and a resisting member 385.
  • the fastener 383 is disposed on the connecting member 381, and the blade 36 is coupled to the connecting member 381 by the fastener 383, and the resisting member 385
  • the fastener 383 is disposed on the fastener 383 and abuts against the blade 36.
  • the connecting member 381 has a substantially elongated plate shape for mounting the fastener 383.
  • each of the blade assemblies 34 includes two of the fasteners 383.
  • Two fasteners 383 are respectively disposed at both ends of the connecting member 381, and each of the fasteners 383 connects one of the blades 36 to the connecting member 381.
  • the fastener 383 is a screw. After the fastener 383 passes through the connecting member 381 and the mounting portion 361 in sequence, the driving member 32 is screwed to rotatably set the blade 36 on the connecting member 381.
  • the blade assembly 34 is integrally mounted on the driving member 32.
  • the resisting member 385 is disposed on the two fasteners 383 and elastically presses against the two blades 36 to apply a pre-tightening force to the blades 36.
  • the resisting member 385 is an arched elastic piece, and the two ends thereof are respectively sleeved on the rod portions 3833 of the two fasteners 383.
  • the substantially central position of the resisting member 385 is bent to form an arch portion (not shown) which protrudes in a direction away from the connecting member 381, so that the resisting member 385 is The two ends abut on the mounting portions 361 of the two blades 36, respectively.
  • the arch portion of the resisting member 385 abuts against the driving member 32, and the resisting member Both ends of the 385 are respectively abutted on the blade 36.
  • the resisting member 385 forms an elastic abutting relationship between the driving member 32 and the blade 36, such that when the blade 36 is hinged to the mounting seat 38, it is opposite to the mounting seat.
  • the rotation of 38 has a predetermined rotational resistance so that the rotational movement of the vane 36 relative to the mount 38 can be hindered by the preload force exerted by the resisting member 385.
  • the presence of the preload force causes the vane 36 to be less likely to loosen or unfold due to vibration; when the drive member 32 drives the vane assembly 34 to rotate At the time, if the rotational speed reaches a predetermined speed, the blade 36 can overcome the rotational resistance and expand relative to the mount 38 under the action of the centrifugal force.
  • the magnitude of the pre-tightening force applied by the resisting member 385 to the blade 36 can be adjusted by adjusting the relative positional relationship between the fastener 383 and the driving member 32.
  • the screwing depth of the fastener 383 and the driving member 32 is deepened, so that the deformation of the driving member 32 against the resisting member 385 is correspondingly increased, and the resisting member 385 is paired.
  • the preload force applied by the vanes 36 also increases accordingly.
  • the magnitude of the pre-tightening force applied by the resisting member 385 to the blade 36 can also be achieved by selecting the resisting member 385 having different elastic coefficients.
  • the elastic modulus of the resisting member 385 can be selected according to the size required for the pre-tightening force to select different elastic materials or elastic structures.
  • the fastener 383 includes a head 3831, a rod portion 3833, and a connecting portion 3835.
  • the head 3831 and the connecting portion 3835 are respectively disposed at opposite ends of the rod portion 3833.
  • the connecting portion 3835 is provided with an external thread for connecting with the driving member 32.
  • a positioning portion 3837 is disposed between the rod portion 3833 and the connecting portion 3835.
  • the positioning portion 3837 has a substantially cylindrical shape and a diameter larger than a diameter of the rod portion 3833.
  • the positioning portion 3837 is configured to define a screwing depth of the fastener 383 on the driving member 32, so that the resisting member 385 generates a predetermined deformation amount under the abutment of the driving member 32, and It is not necessary to manually adjust the screwing depth of the fastener 383 to control the deformation amount of the abutting member 385. This allows the pre-stressing force applied by the abutting member 385 to the blade 36 to be a preset value without repeatedly adjusting the screwing depth of the fastener 383, which simplifies the assembly process.
  • a substantially central position of the resisting member 385 is provided with a first through hole 3581 for the shaft of the driving member 32 to pass through to position the blade assembly 34
  • the driving member 32 is rotated such that the rotor mechanism 30 as a whole rotates around the rotation axis of the driving member 32 to prevent the blade assembly 34 from being shaken or oscillated relative to the driving member 32.
  • the rotating shaft of the driving member 32 passes through the first through hole 3581 of the resisting member 385, so that the surface of the driving member 32 abuts against the resisting member 385, the resisting member
  • the deformations of the portions of the 385 respectively located on the two sides of the rotating shaft of the driving member 32 are substantially equal, that is, the deformation of the resisting member 385 is substantially symmetrical about the rotational axis of the driving member 32, so that the resisting member 385 is
  • the pre-tensioning force applied to the two of the vanes 36 by both ends is substantially the same.
  • a substantially middle position of the connecting member 381 is further provided with a through hole 3811 penetrating through the connecting member 381 and substantially coaxial with the first through hole 3851.
  • the through hole 3811 is configured to pass through the rotating shaft of the driving member 32, and cooperate with the first through hole 3581 to position the blade assembly 34 on the driving member 32, so that the rotor mechanism 30 The whole is rotated about the rotation axis of the driving member 32 to prevent the blade assembly 34 from being shaken or oscillated relative to the driving member 32.
  • the drone 100 further includes a flight controller (not shown).
  • the rotor mechanism 30 further includes an electronic governor (not shown) electrically connected to the flight controller, the electronic governor for driving the driving member 32 to rotate.
  • the flight controller is capable of controlling the electronic governor to drive the drive member 32 to rotate to a predetermined speed to enable the blade 36 to automatically deploy under the action of rotating centrifugal force.
  • the rotor mechanism 30 may further include a speed regulating component (such as an electronic governor or the like, not shown) and a detecting component.
  • a speed assembly is disposed between the drive member 32 and the blade assembly 34 for adjusting the speed of input to the blade assembly 34 in accordance with an output speed of the drive member.
  • the detecting component is configured to detect whether the output speed of the driving component has reached the preset speed, and if not, the electronic governor continues to drive the driving component 32 to accelerate rotation until the rotating speed reaches the preset speed
  • the blade 36 can be automatically deployed under the action of rotating centrifugal force.
  • the structure of the resisting member 385 is not limited to the above-described elastic structure, and the arrangement thereof is not limited to the above-described arrangement.
  • the resisting member 385 may be a coil spring, an elastic sleeve or the like.
  • the number of the resisting members 385 may be two, and each of the resisting members 385 is respectively sleeved on one of the fasteners. 383, the one end of the resisting member 385 is abutted against the mounting portion 361 of the blade 36, and the other end is abutted against the driving member 32 to form between the driving member 32 and the blade 36.
  • a resiliently resisting action imparts a preload to the pivotal connection between the blade 36 and the mount 38.
  • the resisting members 385 may be in the shape of a common elastic piece, and the number is two. Each of the resisting members 385 is disposed on one of the fasteners 383 and has one end abutting against the blade 36. The mounting portion 361 has the other end abutting against the fastener 383 or the driving member 32 to apply a pre-tightening force to the pivotal connection between the blade 36 and the mounting seat 38.
  • the fastener 383 can be other fastener structures.
  • the fastener 383 can be a connecting pin, a fixing pin, or the fastener 383 can be
  • the mounting seat 38 is integrally mounted on the driving member 32.
  • the connecting member 381 can be omitted, and the blade 36 is pivotally connected to the driving member 32 by the fastener 383, and the resisting member 385 is disposed.
  • the fasteners 385 are elastically resisted on the driving member 32 and the blade 36 respectively to form a gap between the driving member 32 and the blade 36. The role of elastic resistance.
  • the fastener 383 can be provided with a limiting portion (not shown).
  • the resisting member 385 When the resisting member 385 is disposed on the fastener 383, it can be respectively resisted.
  • the mounting portion 361 of the blade 36 and the limiting portion form an elastic resistance between the blades 36 of the fastener 383.
  • the limiting portion is formed on the fastener 383.
  • the resisting member 385 is an elastic structure such as an elastic sleeve, a coil spring or a spring, the one end of the resisting member is resisted.
  • the other end of the mounting portion 361 of the blade 36 is abutted against the limiting portion.
  • FIG. 3 is a schematic view showing the assembly of the blade assembly 54 according to the second embodiment of the present invention.
  • the structure of the blade assembly 54 of the second embodiment is substantially the same as that of the blade assembly 34 of the first embodiment, which also includes a blade 56, a mounting seat 58, which also includes a connector 581, a fastener. 583 and the resisting member 585.
  • the blade assembly 54 of the second embodiment of the present invention differs from the blade assembly 34 of the first embodiment in that the mount 58 further includes a limit member 587.
  • the limiting member 587 is disposed on the connecting member 581 and located between the two fasteners 583.
  • the limiting member 587 is connected to the connecting member 581 at one end and to the substantially central position of the resisting member 585 at the other end to define a mounting position of the resisting member 585 with respect to the connecting member 581.
  • the resisting member 585 When the resisting member 585 is sleeved on the two fasteners 583, the two ends of the resisting member 585 are respectively abutted on the two blades 56, due to the limiting member 587
  • the retaining member 585 forms an elastic abutting force between the limiting member 587 and the blade 566, so that when the blade 56 is hinged to the mounting seat 58, the opposite portion thereof
  • the rotation of the mount 58 has a predetermined rotational resistance so that the rotational movement of the vane 56 relative to the mount 58 can be hindered by the preload force exerted by the resist 385.
  • the limiting member 587 is provided with a second through hole (not shown), the second through hole and the through hole 5811 of the connecting member 581 and the first of the resisting member 585
  • the through holes 5851 are disposed substantially coaxially.
  • the second through hole is configured to pass through the rotating shaft of the driving member, and the blade assembly 34 is positioned on the driving member 32 together with the first through hole 5851 and the through hole 5811.
  • the rotor mechanism 30 is integrally rotated about the rotation axis of the driving member 32 to prevent the blade assembly 34 from being shaken or oscillated relative to the driving member 32.
  • the limiting member 587 is also used to define an elastic deformation of the resisting member 585.
  • the magnitude of the pre-tightening force applied by the resisting member 585 to the blade 56 can be adjusted by adjusting the relative positional relationship between the limiting member 587 and the resisting member 585. For example, by adjusting the connection point of the limiting member 587 and the resisting member 585, the middle position of the resisting member 585 is further away from the connecting member 581 with respect to a balance point, and the resisting member 585 The shape variable is correspondingly increased, and the preload force applied to the blade 56 is correspondingly increased.
  • the middle position of the resisting member 585 is closer to the connecting member 581 with respect to a balance point, and the resisting member 585
  • the two ends are more closely abutted against the vanes 56, and the pre-tensioning force applied to the vanes 56 is correspondingly increased.
  • the "balance point" as described above means that the resisting member 585 is sleeved on the fastener 583 and the two of the resisting member 585 are disposed in the case where the limiting member 587 is not provided. When the ends abut against the blade 56, a position point of the middle position of the resisting member 585 is located.
  • the magnitude of the pre-tightening force applied by the resisting member 585 to the blade 56 can also be achieved by selecting the resisting member 585 having different elastic coefficients.
  • FIG. 4 is a schematic perspective view showing the assembly of the blade assembly 74 according to the third embodiment of the present invention.
  • the blade assembly 74 includes a blade 76 and a mount 78 that is pivotally coupled to the mount 78.
  • the mounting seat 78 of the third embodiment of the present invention includes only the resisting member 785 and the fastener 783 disposed on the resisting member 785 with respect to the mounting seat 38 of the first embodiment.
  • the resisting member 785 has a substantially "ten" shape, and includes an elastic portion 7851 and an mounting portion 7853 provided on the elastic portion 7751.
  • the elastic portion 7851 is elongated and made of an elastic material.
  • the elastic portion 7851 is for mounting the vane 76.
  • the number of the mounting portions 7853 is two, and the two mounting portions 7853 are respectively disposed on both sides of the elastic portion 7851, so that the structure of the resisting member 785 is substantially "ten".
  • the mounting portion 7853 is for mounting the fastener 783.
  • the mounting portion 7853 is symmetrically disposed, and is connected to the driving member by the fastener 783, so that the mounting seat 78 is relatively uniform in force, and is not easily loosened or deformed during the rotation of the rotor mechanism.
  • the structure of the fastener 783 in the present embodiment is substantially the same as that of the fastener 583 in the second embodiment, and the number of the fasteners 783 is two.
  • Each of the fasteners 783 is disposed on one of the mounting portions 7853.
  • the fastener 783 is connected to the driving member 32 after passing through the mounting portion 7853 to integrally mount the blade assembly 74 on the driving member 32.
  • two of the blades 76 are rotatably mounted on opposite ends of the elastic portion 7851, and two of the blades 76 are disposed on a side of the elastic portion 7851 facing the driving member 32.
  • the elastic portion 7751 will the blade 76 Elastically resisting the driving member 32, the elastic portion 7751 forms an elastic abutting effect on the blade 56, so that when the blade 56 is hinged to the mounting seat 78, it is opposite to the mounting seat
  • the rotation of 78 has a predetermined rotational resistance so that the rotational movement of the vane 76 relative to the mount 78 can be hindered by the preload force exerted by the resist 785.
  • a third through hole 7855 is formed in a substantially central portion of the elastic portion 7851, and the third through hole 7855 extends through the elastic portion 7851.
  • the third through hole 7855 is configured to pass through a rotating shaft of the driving member 32 to position the blade assembly 74 on the driving member 32 such that the rotor mechanism is integrally rotated by the driving member 32.
  • the axis is centered to prevent the blade assembly 74 from swaying or oscillating relative to the drive member 32.
  • the magnitude of the preload force applied by the elastic portion 7851 to the blade 76 can be adjusted by adjusting the relative positional relationship between the fastener 783 and the driving member 32. For example, the screwing depth of the fastener 783 and the driving member 32 is deepened, so that the elastic portion 7751 elastically presses the blade 76 against the driving member 32 to generate a corresponding increase in the deformation amount. The preload force applied by the elastic portion 7851 to the blade 76 also increases accordingly.
  • the magnitude of the pre-tightening force applied by the elastic portion 7851 to the blade 76 can also be achieved by selecting the elastic portion 7751 having different elastic coefficients.
  • the structure of the resisting member 785 may not be limited to the "ten"-shaped structure described above, and may also be configured as other structures, such as “one", polygonal or other shapes. structure. It can also be understood that the number of the fasteners 783 for mounting the resisting member 785 on the driving member may be one or more.
  • the above-described blade assembly is applied to a rotor mechanism of a rotary wing type unmanned aerial vehicle.
  • the blades of the blade assembly can be folded and folded, and are folded with respect to the driving member.
  • the mounting seat applies an elastic resisting force to the blade to cause a predetermined rotation of the blade relative to the rotation of the mounting seat. Resistance to hinder the rotational movement of the blade relative to the mount such that the blade can be more securely closed to avoid loosening of the blade when the rotor mechanism is received or transported, facilitating the The storage of the rotor mechanism.
  • the driving member drives the blade assembly to rotate, if the rotating speed of the blade assembly reaches a preset speed, the blade can overcome the obstruction of the elastic resisting force and rotate relative to the rotating centrifugal force.
  • the drive member rotates and deploys to operate the rotor mechanism to power the drone.
  • the blade assembly described above can be used not only as a propeller in a rotor mechanism of a rotary wing aircraft, but also in other suitable rotating devices.
  • the other suitable rotating device shall be a rotating device having a rotatable fan blade, such as an airflow generating device such as an electric fan or an exhaust fan.
  • the rotating device comprises a driving member and a blade assembly as described above, and the blade assembly can be folded and folded in a non-working state by elastically hinged to the blade on the driving member, and can be automatically deployed when rotating, so that Storage and transportation of the rotating device.
  • the other structures and working principles of the above-mentioned rotating devices are well-known in the industry, and the description will not be repeated.
  • FIG. 5 shows a functional block diagram of the UAV control system S1.
  • the UAV control system S1 is applied to a rotor mechanism including a blade assembly and a drive member, wherein the blade assembly includes a mount and a blade rotatably mounted on the mount
  • the blade is coupled to the driving member through the mounting seat, and the mounting seat applies an elastic abutting force to the blade to have a predetermined rotational resistance of the blade relative to the rotation of the mounting seat;
  • the vane In the non-operating state, the vane is in a folded folded state relative to the drive member; the drive member is capable of driving the vane assembly to rotate until the vane rotates and unfolds relative to the drive member.
  • the UAV control system S1 includes a control module 101, a speed control module 103, and a detection module 105.
  • the control module 101 is configured to control the speed control module 103 and the detection module 105 to cooperate;
  • the speed control module 103 is configured to control the rotation of the driving component to drive the blade assembly to rotate;
  • the detection module 105 is for detecting the rotational speed of the driving member.
  • the control module 101, the speed control module 103, and the detection module 105 are programmable modules that are stored in one or more memories and that can be executed by one or more actuators.
  • the control module 101 is configured to receive a drive control command and transmit the control command to the speed control module 103. Specifically, it is determined whether the rotation speed reaches a preset speed, and if the rotation speed does not reach the preset speed, the determination result is transmitted to the control module 101 to allow the control module 101 to control the
  • the speed control module 103 drives the driving member to accelerate rotation until the rotational speed of the driving member reaches the preset speed.
  • the preset speed is that the rotating component drives the rotation of the blade in a closed state, and the driving member is automatically unfolded when the driving member is automatically extended by the rotating state under the action of the rotating centrifugal force The minimum rotational speed.
  • the speed control module 103 is configured to drive the driving member to rotate according to the driving control instruction, so that the blade assembly rotates under the driving of the driving member.
  • the detecting module 105 is configured to detect a rotational speed of the driving member.
  • the above-mentioned UAV control system S1 is applied to the aforementioned blade assembly and the driving member. Since the mounting seat applies an elastic resisting force to the blade, the rotation of the blade relative to the mounting seat has The predetermined rotational resistance hinders the rotational movement of the sheet relative to the drive member. In the non-operating state, the blade is in a folded folded state with respect to the driving member, occupies a small storage space and is not easy to loose; when the speed control module controls the driving member to rotate to reach the preset At the speed, the blade is rotatable and unfolded relative to the drive member under the action of centrifugal force.
  • the present invention further provides a drone control method, which is applied to the above-described UAV control system S1 and the rotor mechanism, the rotor mechanism including a blade assembly and Drive parts.
  • the blade assembly includes a mounting seat and a blade rotatably mounted on the mounting seat, the blade is coupled to the driving member through the mounting seat, and the mounting seat applies a blade to the blade
  • the elastic abutting force acts to have a predetermined rotational resistance of the blade relative to the rotation of the mounting seat; in the non-operating state, the blade is in a folded folded state with respect to the driving member;
  • the blade assembly is driven to rotate until the blade rotates and unfolds relative to the drive member.
  • the UAV control system S1 includes a control module 101, a speed control module 103, and a detection module 105.
  • the control module 101 is configured to control the speed control module 103 and the detection module 105 to cooperate;
  • the speed control module 103 is configured to control the rotation of the driving component to drive the blade assembly to rotate;
  • the detection module 105 is for detecting the rotational speed of the driving member.
  • the drone control method includes the steps of:
  • S101 Acquire a drive control instruction. Specifically, the control module 101 receives a drive control command and transmits the control command to the speed control module 103.
  • S103 Drive the driving member to rotate to drive the blade assembly to rotate.
  • the speed control module 103 drives the driving member to rotate according to the driving control instruction, so that the blade assembly rotates under the driving of the driving member.
  • S105 Acquire a rotation speed of the driving member. Specifically, the detecting module 105 detects a real-time rotational speed of the driving member.
  • the real-time rotational speed of the driving component may be acquired in real time, and the real-time rotational speed of the driving component may be acquired at intervals, and the real-time rotation of the driving component may be acquired twice.
  • the interval between the speeds may be set to an arbitrary value according to actual needs.
  • the interval time may be 1S, 2S, 3S, ... or 1mS, 2mS, 3mS, ....
  • step S107 Determine whether the rotational speed of the rotating component reaches a preset speed. If not, execute step S109, and if yes, the program ends. Specifically, the detecting module 105 determines whether the rotating speed reaches the preset speed, if the rotating speed does not reach the preset speed, step S109 is performed; if the rotating speed reaches the preset speed, the program End.
  • Step S109 driving the driving member to accelerate the rotation, and repeating step S105 until the rotational speed of the driving member reaches the preset speed, and the routine ends.
  • the detecting module 105 determines that if the rotation speed does not reach the preset speed, the determination result is transmitted to the control module 101 to allow the control module 101 to control the speed control module 103 to drive.
  • the driving member accelerates rotation until the rotational speed of the driving member reaches the preset speed.
  • the above-described rotor mechanism and the control method of the rotor mechanism are applied in a drone, and if the drone has taken off, the rotational speed of the driving member is always controlled to be greater than the preset speed. If the rotor mechanism is not working, the blades are closed, and the blades are automatically positioned in the closed state under the action of rotational resistance.
  • the blade since the mount applies an elastic resisting force to the blade, the blade has a predetermined rotational resistance with respect to the rotation of the mount, which hinders the sheet from being opposite to the The rotational movement of the drive member.
  • the blade In the non-operating state, the blade is in a folded folded state with respect to the driving member, occupies a small storage space and is not easy to loose; when the driving member is controlled to rotate to reach the preset speed, The blade is rotatable and unfolded relative to the drive member under the action of centrifugal force, that is, the blade is automatically opened from the closed state to the deployed state.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un ensemble pale (34), un système de commande et un procédé de fonctionnement pour ce dernier, et un dispositif de rotation, un mécanisme de rotor (30) et un véhicule aérien sans pilote (100) utilisant l'ensemble pale (34). L'ensemble pale (34) comprend une base de montage (38) et des pales (36), et les pales (36) sont montées de manière rotative sur la base de montage (38). La base de montage (38) comprend une attache (383), l'ensemble pale (34) étant relié à un objet externe par l'intermédiaire de l'attache (383); et un élément de butée (385) s'appuyant élastiquement contre les pales (36) sous l'action de l'attache (383), de telle sorte qu'il y a une résistance de rotation prédéterminée des pales (36) tournant par rapport à la base de montage (38).
PCT/CN2015/099384 2015-12-29 2015-12-29 Mécanisme de rotor, dispositif de rotation, véhicule aérien sans pilote, et système de commande et procédé de fonctionnement pour ce dernier WO2017113090A1 (fr)

Priority Applications (2)

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CN201580067015.2A CN107406140B (zh) 2015-12-29 2015-12-29 旋翼机构、转动装置和无人机及其控制系统及操控方法
PCT/CN2015/099384 WO2017113090A1 (fr) 2015-12-29 2015-12-29 Mécanisme de rotor, dispositif de rotation, véhicule aérien sans pilote, et système de commande et procédé de fonctionnement pour ce dernier

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PCT/CN2015/099384 WO2017113090A1 (fr) 2015-12-29 2015-12-29 Mécanisme de rotor, dispositif de rotation, véhicule aérien sans pilote, et système de commande et procédé de fonctionnement pour ce dernier

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