WO2018120163A1

WO2018120163A1 - Multi-rotor aircraft and spreading and/or folding method of propeller protective cover thereof

Info

Publication number: WO2018120163A1
Application number: PCT/CN2016/113831
Authority: WO
Inventors: 刘利剑
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-12-30
Filing date: 2016-12-30
Publication date: 2018-07-05
Also published as: CN107108026A; CN107108026B

Abstract

Multi-rotor aircrafts and a spreading and/or folding method of the propeller protective cover thereof. The aircraft (10, 20, 30) comprises a fuselage (110, 210,310) and a plurality of propeller protective covers (121, 221, 321) connected to the fuselage (110, 210, 310); at least one of the plurality of propeller protective covers (121, 221, 321) being a foldable protective cover, and each foldable protective cover having a folding state and a spreading state: in the folding state, the foldable protective cover being folded above or below the fuselage (110, 210, 310), and in the spreading state, the foldable protective cover extending from the periphery of the fuselage (110, 210, 310), thereby being easy to carry and facilitating lengthening the duration of flight of the aircraft.

Description

Multi-rotor aircraft and propeller cover deployment and/or folding method thereof

Copyright statement

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or the patent disclosure in the official records and files of the Patent and Trademark Office.

Technical field

The present invention relates to a method of deploying and/or collapsing a multi-rotor aircraft and its propeller shield.

Background technique

A multi-rotor aircraft generally includes a fuselage and a plurality of rotor structures extending circumferentially from the fuselage, each rotor structure being comprised of an arm and a power assembly supported via the arm. For portability, the arms can be folded to the sides of the fuselage. In order to ensure safety, some aircraft with high safety requirements, such as those used for self-timer, usually have a protective cover. In the prior art, the protective cover is usually superimposed on the arm, and the protective cover will shorten the aircraft. The battery life, in addition, often causes the folding of the arm to fail, making the aircraft inconvenient to carry. On the other hand, some protective covers are detachable protective covers. Users can remove the protective cover before carrying the aircraft, and then fold the arm to the side of the fuselage. However, this method requires disassembly of the protective cover before each carrying, which still brings inconvenience to the user, and the manner in which the arms are folded on both sides of the fuselage limits the width of the fuselage, so that the fuselage cannot be loaded more. The battery affects the life of the aircraft.

Summary of the invention

In order to address the above and other potential problems of the prior art, it is necessary to propose a method of deploying and/or collapsing a propeller shield of a multi-rotor aircraft and a multi-rotor aircraft.

In a first aspect, a multi-rotor aircraft is provided, the aircraft including a fuselage, and a plurality of propeller guards coupled to the fuselage, wherein at least one of the plurality of propeller guards is a collapsible boot Each of the collapsible protective covers has a collapsed state and an unfolded state, and in the collapsed state, the collapsible protective cover is folded above or below the fuselage, in an unfolded state The collapsible protective cover projects from the peripheral side of the body.

Further, each propeller guard includes a connecting portion through which the propeller guard is coupled to the fuselage.

Further, a connecting portion of each of the collapsible protective covers is rotatably coupled to the body such that the collapsible protective cover is switchable between an unfolded state and a collapsed state.

Further, the collapsible protective cover is at least a pair, and the two collapsible protective covers that form a pair are separated from opposite sides of the fuselage and are arranged at a wrong height.

Further, the connecting portion of each of the collapsible protective covers is rotatably connected to the fuselage about a rotating axis parallel to the heading or rolling axis of the aircraft to enable the collapsible protection The cover can be changed between an unfolded state and a collapsed state.

Further, in the collapsed state, the two collapsible protective covers that make up a pair overlap in a direction perpendicular to the heading axis of the aircraft.

Further, the two collapsible protective covers constituting a pair are placed above and below the fuselage in the collapsed state.

Further, the collapsible protective cover is at least two pairs, and the two collapsible protective covers on the same side of the two pairs are placed above and below the fuselage in the folded state. .

Further, each of the collapsible protective covers includes a locking-unlocking structure, and the locking-unlocking structure is fixedly disposed on the connecting portion of the collapsible protective cover, and the a movable connection for fixing a position of the collapsible boot relative to the fuselage and for uncoupling the propeller guard from a fixed position to enable the connecting portion to drive the propeller protection The cover rotates about the axis of rotation.

Further, at least one of the plurality of propeller protection covers is a hood-integrated protective cover, and each of the hood-integrated protective covers includes a cover body and a motor base, and the cover body is fixedly connected and supports the motor a base for loading at least one electric machine for driving propeller rotation of the aircraft.

Further, the cover further includes a protection ring, and the protection ring is fixedly connected and supported by the motor base through a plurality of fixing members.

Further, at least one of the plurality of fastening members is a hollow structure for passing control cables for controlling the motor.

Further, a fixing member closest to the body of the plurality of fixing members is a hollow structure.

Further, the fastening members are equiangularly distributed; and/or the fastening member is a rib.

Further, all or part of the collapsible protective cover is simultaneously a hood-integrated protective cover.

Further, all or part of the hood-integrated protective cover is simultaneously a collapsible protective cover.

Further, the plurality of propeller protection covers are a hood integrated protection cover and a collapsible protective cover.

Further, the plurality of propeller guards are divided into two or more pairs, and the two collapsible protective covers of each pair are placed on opposite sides of the fuselage and are arranged in a wrong height.

Further, the multi-rotor aircraft is a quadrotor including four propeller guards.

Further, a pair of propeller guards are disposed near the fuselage head and disposed on two sides of the fuselage, and the other pair of propeller guards are disposed near the tail of the fuselage and disposed on both sides of the fuselage.

Further, a pair of propeller guards close to the fuselage head are placed above and below the fuselage in the collapsed state and overlap in a direction perpendicular to the heading axis; a pair of propeller guards near the tail of the fuselage are In the collapsed state, it is also placed above and below the fuselage, and overlaps in the direction perpendicular to the heading axis.

Further, two propeller guards disposed on the same side of the circumference side of the fuselage are placed above and below the fuselage.

In a second aspect, a propeller guard deployment and/or collapsing method for a multi-rotor aircraft is provided, the multi-rotor aircraft including a fuselage and a plurality of propeller guards, the method comprising:

Unlocking a propeller guard in a first position such that the propeller guard is rotatable about a rotational axis parallel to a heading or roll axis of the multi-rotor;

Rotating the propeller guard to a second position about the rotating shaft; and

Locking the propeller protection cover on the fuselage in the second position, so that the propeller protection cover cannot rotate around the rotating shaft;

Wherein, when the propeller protection cover is located in one of the first position and the second position, the propeller protection cover is located on a circumference side of the fuselage, and the propeller protection cover is located in another one of the first position and the second position The propeller guard is located above or below the fuselage.

Further, the method further includes folding a pair of propeller guards above and below the fuselage, respectively.

Further, the method further includes: folding a pair of propeller guards respectively located on opposite sides of the circumference side of the fuselage to above and below the fuselage and locking on the fuselage.

Further, the method further includes: folding a pair of propeller guards respectively located on opposite sides of the circumference of the fuselage to above and below the fuselage, and continuing to rotate the pair of propeller guards to be perpendicular to the heading The directions of the shafts overlap and the pair of propeller guards are locked to the fuselage.

Further, the method further includes: folding a pair of propeller guards close to the fuselage head and respectively located on opposite sides of the circumference of the fuselage, respectively, to the upper and lower sides of the fuselage and locked to the fuselage.

Further, the method further includes: folding a pair of propeller guards close to the tail of the fuselage and respectively located on opposite sides of the circumference of the fuselage, respectively, to the upper and lower sides of the fuselage and locked to the fuselage.

Further, the method further includes: folding a pair of propeller guards near the middle of the fuselage and respectively located on opposite sides of the circumference of the fuselage, respectively, to the upper and lower sides of the fuselage and locked to the fuselage.

Further, the method further includes: folding two adjacent propeller guards on the same side of the circumference of the fuselage to the upper and lower sides of the fuselage, respectively.

Further, the method further includes unlocking the propeller guard in the second position such that the propeller guard is rotatable about the rotating shaft; rotating the propeller guard to the rotating shaft Said first position; and

The propeller guard is locked to the fuselage in the first position such that the propeller guard cannot rotate about the axis of rotation.

The propeller protection cover deployment and/or folding method of the multi-rotor UAV and the multi-rotor aircraft provided by the embodiments of the present invention folds the propeller protection cover over the upper and lower sides of the fuselage, which is convenient for the user to carry and does not affect the machine. The width of the body allows for a larger battery to be installed in the body, thus extending the life of the aircraft.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without paying any creative work.

1 is a top plan view showing a four-rotor aircraft in an unfolded state in an embodiment of the present invention.

2 is a top plan view showing the quadrotor of FIG. 1 in a collapsed state.

Figure 3 is a front elevational view of the quadrotor of Figure 1 in an unfolded state.

Figure 4 is a front elevational view of the quadrotor of Figure 1 in a collapsed state.

Figure 5 is a side elevational view of the quadrotor of Figure 1 in an unfolded state.

Figure 6 is a side elevational view of the quadrotor of Figure 1 in a collapsed state.

Fig. 7 is a top plan view showing the three-rotor aircraft in an unfolded state according to an embodiment of the present invention.

Figure 8 is a top plan view showing the three-rotor aircraft of Figure 7 in a collapsed state.

Fig. 9 is a top plan view showing the six-rotor aircraft in an unfolded state according to an embodiment of the present invention.

Figure 10 is a top plan view showing the three-rotor aircraft of Figure 9 in a collapsed state.

11 is a flow chart showing a method of unfolding and/or folding a propeller guard of a multi-rotor aircraft according to an embodiment of the present invention.

Main component symbol description

Aircraft 10, 20, 30

Body

110, 210, 310

Rotor structure

120, 220, 320

Propeller cover

121, 221, 321

Cover 122

Motor base 123

Fastening piece 124

Protective ring 125

Connection portion

126, 227, 327

Heading axis Y, Ya, Yb

Roller X, Xb

Head

111, 211, 311

Tail

112, 212, 312

Central 313

Steps 41-43

The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" or "mounted" to another component, it can be directly on the other component or can also be in the middle of the 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 term "and/or" used herein includes all and any combination of one or more of the associated listed items.

The four-rotor aircraft and the propeller cover used therein will be described below as an example.

Referring to FIGS. 1-6, the quadrotor 10 includes a fuselage 110 and four rotor structures 120 coupled to the fuselage 110, each rotor structure 120 including a propeller shield 121. In the following detailed description, for convenience of description, words such as "above the fuselage", "below the fuselage", and "circumferential side of the fuselage", etc., are used, wherein "above the fuselage" refers to the edge. The direction of the aircraft's heading axis is located in the space above the fuselage. The "lower side of the fuselage" refers to the space position under the fuselage along the heading axis of the aircraft. The "peripheral side of the fuselage" means The six-sided space surrounding the fuselage removes any one or more of the remaining front, rear, left and right four-sided spaces after removing the upper and lower sides of the fuselage.

In the present embodiment, each of the propeller protection covers 121 is a machine ("motor base") cover ("protective cover") integrated protective cover, including a cover 122 and fixed to the cover 122 and covered by the cover 122 Supported motor base 123. The motor base 123 is located at a central position of the cover 122 for mounting a power component (not shown) of the aircraft 10. The power assembly includes a propeller device of the aircraft 10 and a motor (not shown) that drives the rotation of the propeller device. Specifically, the motor is mounted on the motor base 123, and the propeller device is mounted on the motor shaft of the motor. In one embodiment, the motor base 123 carries a motor, and the motor of the motor extends axially downward to drive the propeller device located below the motor base 123 to rotate. In another embodiment, the motor of the motor extends axially to drive rotation of the propeller device above the motor base 123. In still another embodiment, the motor base 123 is loaded with two motors, wherein the motor of one motor extends axially downward, driving the propeller device under the motor base 123 to rotate, and the motor shaft of the other motor. Extending upwardly, the propeller device located above the motor base 123 is rotated, thus, the aircraft 10 is provided with a spare motor and a spare propeller device. In a fourth embodiment, the motor base 123 carries two motors that coaxially drive one propeller device to rotate.

The cover body 122 and the motor base 123 are fixedly connected by a fastening member 124 to support the motor base 123 and the power assembly loaded by the motor base 123. The cover body 122 includes a guard ring 125 that is located on the outer side of the motor base 123. In one embodiment, the guard ring 125 is covered with a protective layer (not labeled). The protective layer is made of an elastic material, for example, the protective layer may be made of a highly elastic material such as a polypropylene plastic foamed material or a foamed polystyrene polyethylene blend.

The guard ring 125 and the motor base 123 are fixedly connected by a fixing member 124. Further, the guard ring 125, the fastening member 124 and the motor base 123 can be formed by integral molding. The number of the fastening members 124 may be plural, and the following four are exemplified. At least one of the fastening members 124 is hollow, so that a control cable (not shown) starting from the inside of the body 110 reaches the motor mounted on the motor base 123 via the fastening member 124. In one embodiment, one of the fasteners 124 closest to the fuselage 110 is a hollow structure. The four fastening members 124 are located in the same plane and are equiangularly distributed to reduce the influence on the rotor airflow and extend the life time of the aircraft 10. In other embodiments, the four fastening members 124 may be located in different planes, for example, a slight height difference between the end point of each fixing member 124 fixedly connected to the motor base 121 and the end point of the fixed connection protection ring 125. The angle between each two adjacent fastening members 124 is the same or substantially the same, so that the fastening members 124 are equiangularly distributed. In other embodiments, other numbers of equiangularly distributed fastening members 124 may be fixedly coupled to the motor base 123 and the guard ring 125, for example, two, three or more five, six, and the like. The fastening member 124 is a rib in one embodiment.

Each propeller guard 120 further includes a connecting portion 126 located outside the guard ring 125 through which the propeller guard is coupled to the fuselage 110.

In the present embodiment, the propeller guard covers 120 are all collapsible protective covers, including the unfolded state shown in FIGS. 1, 3, and 5 and the collapsed state shown in FIGS. 2, 4, and 6. The connecting portion 126 is a rotating connecting portion disposed at an upper edge or a lower edge of the body 110 and rotatable about a rotating axis parallel to the heading axis Y of the aircraft 10, thereby allowing the propeller guard 120 to be in an unfolded state and folded. Switch between states.

In one embodiment, corresponding to each of the propeller guards 120, a rotating shaft (not shown) is disposed corresponding to the direction of the upper or lower edge of the fuselage 110 parallel to the heading axis Y of the aircraft 10, and the rotating shaft can be positive. It is located on the upper or lower edge of the fuselage 110, or at the upper edge or lower edge of the fuselage 110 slightly in the middle of the fuselage. The connecting portion 126 of the propeller protection cover 120 includes a hole position (not shown) through which the hole is sleeved and rotates around the rotating shaft. Each of the connecting portions 126 is further provided with a locking-unlocking structure (not shown), and the locking-unlocking structure can be fixedly disposed on the connecting portion of the collapsible protective cover, between the body and the body For a movable connection, the locking-unlocking structure locks the propeller guard in this position when the propeller guard 120 is in a particular position, and disengages the propeller guard 120 from a fixed position so that it can be parallel The rotation axis of the heading axis Y of the aircraft 10 (i.e., the rotation shaft) is rotated. In one embodiment, the locking-unlocking structure may be a protrusion (not shown) facing the body 110 on the connecting portion 126 and a fastener sleeved at the end of the protruding post. The limiting slots (not shown) on the fuselage 110 cooperate, and the two ends of the limiting slot respectively correspond to two states of the propeller protection cover 120: an unfolded state and a collapsed state. In the unfolded state, the fastener is tightened to fix the propeller protection cover 120 in the unfolded state; when the propeller protection cover 120 is switched to the collapsed state, the fastener is loosened, and the propeller protection cover 120 is rotated along the limit slot to receive In the assembled state, the fastener is tightened to fix the propeller cover 120 to the collapsed state. In another embodiment, the locking-unlocking structure may be a hole disposed on the connecting portion 126 and a pin matching the hole position, and the connecting portion 126 is located at an upper edge of the body 110 Or a position slightly lower than the center of the lower edge, the body 110 has a hole on each side of the rotating shaft, and the hole position can also be matched with the pin, wherein the hole position closer to the edge of the body corresponds to the hole In the unfolded state of the propeller guard 120, the propeller guard 120 is rotated to the hole on the connecting portion 126 to align the hole, and the pin is inserted into the aligned hole to fix the propeller cover 120 to the position. The hole position far from the edge of the fuselage corresponds to the collapsed state of the propeller protection cover 120. When the propeller protection cover 120 is switched to the collapsed state, the overhead nail is loosened, and the propeller protection cover 120 is rotated to the hole position on the connection portion 126. Align the hole farther from the edge of the fuselage and fix it with a pin.

Referring to FIGS. 2, 4, and 6, the propeller guard 120 is folded above or below the fuselage 110 in the collapsed state. Further, a portion of the propeller cover 120 is placed above the fuselage 110 and another portion is placed below the fuselage 110. Further, the propeller protection cover 120 is divided into two pairs, both of which are disposed on the left and right sides of the body 110, the first pair is adjacent to the head 111 of the body 110, and the second pair is adjacent to the tail 112 of the body 110. . The first pair of propeller protection covers 120 are arranged at a wrong height, and the plane perpendicular to the heading axis Y of the aircraft 10 is a horizontal plane, and the two propeller protection covers 120 of the first pair are located on the horizontal planes of different heights, that is, the height is set, so that When the first pair of propeller guards 120 are in the collapsed state, they can overlap or partially overlap each other. In this embodiment, one of the propeller protection covers 120 of the first pair is connected to the lower right edge of the fuselage 110, and is rotated and folded under the fuselage 110; the other propeller protection cover 120 is connected to the left side of the fuselage 110. The upper edge of the side is rotated and folded over the fuselage 110, and the two have overlap in the direction of the parallel heading axis Y after folding. The second pair of propeller guards 120 are also disposed in a wrong height. The two pairs of propeller guards 120 are located on different levels of the horizontal plane, one of which is connected to the upper edge of the right side of the fuselage 110, and the other is connected to the fuselage 110. The lower edge of the left side is located above and below the fuselage 110, respectively, and overlaps in the direction of the parallel heading axis Y. Further, the left and right sides of the fuselage 110 are segmented with the roll axis of the fuselage 110 as a center line, and the two propeller guards 120 on the same side of the fuselage 110 are also set to a wrong height, that is, located at the machine The two propeller guards 120 on the left side of the body 110 are in a staggered arrangement, such as in the embodiment shown in Figures 1-6, in the two propeller guards 120 on the left side of the fuselage 110, wherein the propellers near the head 111 The protective cover 120 is connected to the upper edge of the fuselage 110, and is located above the fuselage 110 after being folded. The propeller protection cover 120 near the tail portion 112 is connected to the lower edge of the fuselage 110, and is located below the fuselage 110 after being folded; The other two propeller guards 120 on the right side of the fuselage 110 are also arranged in a wrong height. Thus, any propeller guard 120 and its opposite and adjacent two propeller guards 120 are arranged at a wrong height, so that not only can The lateral dimension of the aircraft 10 is minimized during folding, and the center of gravity of the aircraft can be balanced during flight of the aircraft 10.

The structure and principle of the propeller protection cover in the embodiment of the present invention are described above by taking a quadrotor as an example. However, it can be seen that the propeller protection cover in the embodiment of the present invention can also be applied to other multi-rotor aircraft, such as three-rotor, six-rotor, eight-rotor and the like.

Referring to Figures 7 and 8, a three-rotor aircraft 20 includes a fuselage 210 and three rotor structures 220 coupled to the fuselage 210. One of the rotor structures 220 is located at the head 211 of the fuselage 210 and the other pair of rotor structures 220 are located at the tail 212 of the fuselage 210. Each of the rotor structures 220 includes a propeller protection cover 221, which may be a hood-integrated protective cover, or may not all be a hood-integrated protective cover, for example, a propeller protective cover located at the head 211. The 221 may not be a hood-integrated protective cover. The propeller protection cover 221 may be either a collapsible protective cover or not a collapsible protective cover. For example, the propeller protection cover 221 located at the head portion 211 may not be a collapsible protective cover. In the present embodiment, the three propeller protection covers 221 are both a hood-integrated protective cover and a collapsible protective cover. Each of the propeller guards 221 is rotatably connected to the body 210 via a connecting portion 227, and the propeller guard 221 can be in the unfolded state shown in FIG. 7 and the folded state shown in FIG. 8 through the connecting portion 227. Switch between. The connecting portion 227 also includes a locking-unlocking structure (not shown) that cooperates with a corresponding structure on the body 210 to fix the propeller guard 221 in an unfolded state or a collapsed state.

In the present embodiment, the connecting portion 227 of the propeller protection cover 221 located in the head portion 211 is disposed at the upper edge of the body 210, and therefore, the propeller protection cover 221 is folded over the body 211 in the folded state, of course. In other embodiments, the connecting portion 227 of the propeller protection cover 221 may be disposed at a lower edge of the body 210 to fit the propeller protection cover 221 below the body 210. The connecting portion 227 of the pair of propeller guards 221 located at the tail portion 212 is disposed at an upper edge of the body 210, and is disposed at a lower edge of the body 210, so that the two propeller guards 221 are wrong on both sides of the body 210. The high arrangement, when folded, is collapsed above the fuselage 210 and collapsed below the fuselage 210, which overlap in a direction perpendicular to the heading Ya of the aircraft 20.

Referring to FIGS. 9 and 10 , a six-rotor aircraft 30 includes a fuselage 310 and six rotor structures 320 coupled to the fuselage 310 , wherein the first pair of rotor structures 320 are located in the fuselage 310 . The head 311, the second pair of rotor structures 320 are located at the tail 312 of the fuselage 310, and the third pair of rotor structures 320 are located at the center 313 of the fuselage 310. Each of the rotor structures 320 includes a propeller protection cover 321 which may be a hood-integrated protective cover or not all of the hood-integrated protective covers, for example, located at the head 311 and/or the tail portion. The propeller guard 321 of 312 can be other types of protective covers. The propeller protection cover 321 may be a collapsible protective cover, or may not all be a collapsible protective cover, or may be folded, but may be folded on the circumferential side of the body 310 according to actual conditions, for example, The propeller guard 321 located at the head 311 and/or the tail 312 may be otherwise folded over the circumference of the fuselage 310. In the present embodiment, the six propeller protection covers 321 are both a hood-integrated protective cover and a collapsible protective cover, and each propeller protective cover 321 is rotatably connected to the body 310 through a connecting portion 327 through The connecting portion 327 can switch the propeller guard 321 between the unfolded state shown in FIG. 7 and the collapsed state shown in FIG. The connecting portion 327 also includes a locking-unlocking structure (not shown) that cooperates with a corresponding structure on the body 310 to fix the propeller protection cover 321 in an unfolded state or a collapsed state.

In the present embodiment, the connecting portion 327 of the pair of propeller guards 321 located at the head portion 311 is disposed at the upper edge of the body 310, and one of the lower edges of the body 310, so that the two propeller guards 321 are The sides of the fuselage 310 are arranged at a wrong height. When folded, one is folded over the fuselage 310, and one is folded under the fuselage 310, and the two overlap in a direction perpendicular to the heading axis Yb of the aircraft 30. The connecting portion 327 of the pair of propeller guards 321 located at the tail portion 312 is disposed at an upper edge of the body 310, and is disposed at a lower edge of the body 310, so that the two propeller guards 321 are wrong on both sides of the body 310. The high arrangement, when folded, is collapsed above the fuselage 310, one collapsed below the fuselage 310, and the two overlap in a direction perpendicular to the heading axis Yb of the aircraft 30. Similarly, the connecting portion 327 of the pair of propeller guards 321 located in the middle portion 313 is disposed on the upper edge of the body 310, and is disposed on the lower edge of the body 310, such that the two propeller guards 321 are in the body 310. The sides are arranged in a wrong height. When folded, one is folded over the fuselage 310, and one is folded under the fuselage 310, and the two overlap in a direction perpendicular to the heading axis Yb of the aircraft 30. In the present embodiment, the left and right sides of the body 310 are divided by the roll axis Xb of the body 310 as a center line, and the three propeller guards 321 located on the same side of the body 310 are pressed from the head 311 to the tail 312. The order is respectively upper-lower-upper-lower-upper-lower, and the three propeller guards 321 on the left side are respectively arranged from the head 311 to the tail 312 in an upper-lower-upward height setting. The three propeller guards 321 located on the right side are respectively arranged from the head 311 to the tail portion 312 in a lower-upper-downer height, so that any two adjacent propeller guards 321 on either side are also in error. The high arrangement avoids the problem that the adjacent propeller guards 321 interfere with each other after being folded, and also makes the body 310 smaller and more compact.

In the embodiment described above, although each of the four rotorcraft 10, the three-rotor aircraft 20, and the six-rotor aircraft 30 is a hood-integrated protective cover and a collapsible protective cover, in other embodiments In the middle, any propeller cover of the aircraft may be only a hood-integrated protective cover, and it is not required to be the collapsible protective cover as described in the above embodiment, or the propeller protective cover can be folded, but the folding manner can be Different from those described in the above embodiments, for example, folded on both sides of the fuselage or front and rear of the fuselage. In addition, in the plurality of rotors of the aircraft, the hood-integrated protective cover described in the embodiment of the present invention may be used as part of the rotor according to actual needs, and the other part of the rotor is still disposed separately from the protective cover of the prior art. The method is, for example, supporting the motor base by the arm, and the protective cover is further supported on the motor base; further, according to actual needs, the partial rotor can adopt the collapsible protective cover introduced by the embodiment of the present invention, and the other part of the rotor adopts other The method is closed, or the rotor and the fuselage are fixedly connected and cannot be folded. In the case where a part of the rotor adopts a hood-integrated protective cover and a part or all of the rotor adopts a collapsible protective cover, it can also be subdivided into a hood-integrated protective cover and a collapsible protective cover applied to the same rotor. For example, it is applied to the rotors A, B, and C of the three-rotor aircraft simultaneously; the hood-integrated protective cover and the collapsible protective cover are applied to different rotors, for example, the hood-integrated protective cover is applied to the rotor A of the three-rotor aircraft. The retractable protective cover is applied to the rotors B and C; the hood-integrated protective cover partially overlaps with the rotor of the collapsible protective cover application, for example, the hood-integrated protective cover is applied to the rotors A and B of the quadrotor aircraft. On the C, the collapsible protective cover is applied to the rotors B, C, and D. For example, the hood-integrated protective cover is applied to the rotor A of the quadrotor, and the collapsible protective cover is applied to the rotors A and B. C, D, etc.

In the solution of rotating the collapsible protective cover above or below the fuselage, depending on the actual situation, the manner in which the collapsible protective cover is rotated about a rotating shaft parallel to the roll axis of the aircraft may also be employed.

Referring to FIG. 11, a method for unfolding and/or folding a propeller protection cover of a multi-rotor aircraft according to an embodiment includes:

S41: unlocking a propeller guard in a first position, the propeller guard being rotatable about a rotation axis parallel to a heading or a roll axis of the multi-rotor aircraft;

S42: rotating the propeller guard to a second position around a rotating shaft of the multi-rotor aircraft; and

S43: locking the propeller protection cover on the air body in the second position, so that the propeller protection cover cannot rotate around the rotation axis of the multi-rotor aircraft;

In another embodiment, the method may further include the step of folding a pair of propeller guards above and below the fuselage, respectively.

In another embodiment, the method may further include the steps of folding a pair of propeller guards respectively located on opposite sides of the circumference of the fuselage to above and below the fuselage and locking to the fuselage.

In another embodiment, the method may further include the steps of: respectively folding a pair of propeller guards respectively located on opposite sides of the circumference of the fuselage to the upper and lower sides of the fuselage, and continuing to rotate the pair of propeller guards so that It overlaps in a direction perpendicular to the heading axis and locks the pair of propeller guards on the fuselage.

In another embodiment, the method may further include the steps of: folding a pair of propeller guards 121 close to the fuselage head and respectively located on opposite sides of the circumference of the fuselage, respectively, above and below the fuselage Locked on the fuselage.

In another embodiment, the method may further include: folding a pair of propeller guards adjacent to the rear of the fuselage and respectively located on opposite sides of the circumference of the fuselage, respectively, to the upper and lower sides of the fuselage and locked to the machine Body.

In another embodiment, the method further includes: folding a pair of propeller guards near the middle of the fuselage and respectively located on opposite sides of the circumference of the fuselage, respectively, to the upper and lower sides of the fuselage and locked to the fuselage on.

In another embodiment, the method may further include: folding two adjacent propeller guards on the same side of the circumference of the fuselage to the upper and lower sides of the fuselage, respectively.

In another embodiment, the method may further include the steps of: unlocking the propeller guard in the second position, the propeller guard being rotatable about the axis of rotation; Rotating the propeller guard to the first position; and

The propeller guard is locked to the fuselage in the first position such that the propeller guard cannot rotate about the axis of rotation of the multi-rotor aircraft.

In summary, the multi-rotor aircraft and the multi-rotor aircraft propeller protection cover deployment and/or folding method of the present invention support the power component of the aircraft by directly using the protective cover instead of the conventional arm to support the motor base. It not only solves the safety hazard of some aircrafts that are highly sensitive to safety, but also saves the arm and can be lighter and has a lighter airflow than the conventional UAV with both the organic arm and the protective cover. The superimposed effect is not generated, and thus the life time of the aircraft is not affected. In addition, the propeller protection cover is arranged in a wrong height and is respectively folded over the upper and lower sides of the fuselage, which is convenient for the user to carry and does not affect the fuselage. The width allows for a larger battery to be installed in the body to extend the life of the aircraft.

It should be noted that the above embodiments are only for explaining the technical solutions of the present invention and are not intended to be limiting, and the present invention will be described in detail with reference to the preferred embodiments. Modifications or equivalents are made without departing from the spirit and scope of the invention.

Claims

A multi-rotor aircraft, the aircraft including a fuselage, and a plurality of propeller guards coupled to the fuselage, wherein at least one of the plurality of propeller guards is a collapsible boot, each of the The collapsible protective cover has a collapsed state and an unfolded state, and the collapsible protective cover is folded above or below the fuselage in the collapsed state, and the collapsible protection is in an unfolded state A cover projects from the peripheral side of the body.
The multi-rotor aircraft of claim 1 wherein each propeller guard includes a connection through which the propeller guard is coupled to the fuselage.
The multi-rotor aircraft according to claim 2, wherein a connecting portion of each of the collapsible protective covers is rotatably coupled to the body so that the collapsible protective cover can be in an unfolded state Change between states.
The multi-rotor aircraft according to claim 3, wherein said collapsible protective cover is at least a pair, and two collapsible protective covers forming a pair are disposed on opposite sides of said body and are Wrong and high distribution.
The multi-rotor aircraft according to claim 4, wherein the connecting portion of each of the collapsible protective covers is rotatably coupled to the rotating shaft parallel to the heading or rolling axis of the aircraft to the The fuselage is such that the collapsible protective cover can be changed between an unfolded state and a collapsed state.
The multi-rotor aircraft of claim 5 wherein, in the collapsed state, the two collapsible guards that form a pair overlap in a direction perpendicular to the heading axis of the aircraft.
The multi-rotor aircraft according to claim 6, wherein the two collapsible protective covers constituting a pair are placed above and below the body in the collapsed state.
The multi-rotor aircraft according to claim 7, wherein the collapsible protective cover is at least two pairs, and the two collapsible protective covers on the same side of the two pairs are adjacent to each other. The lower part is placed above and below the fuselage.
The multi-rotor aircraft according to claim 8, wherein each of the collapsible protective covers comprises a locking-unlocking structure, and the locking-unlocking structure is fixedly disposed on the collapsible protective cover. a movable connection with the fuselage on the connecting portion for fixing a position of the collapsible protective cover relative to the fuselage, and for disengaging the propeller guard from a fixed position, So that the connecting portion can drive the propeller protection cover to rotate about the rotating shaft.
The multi-rotor aircraft according to claim 2, wherein at least one of said plurality of propeller guards is a hood-integrated boot, and each of said hood-integrated covers comprises a cover and a motor base The cover is fixedly coupled to and supports the motor base, and the motor base is configured to load at least one motor for driving the propeller of the aircraft to rotate.
The multi-rotor aircraft according to claim 10, wherein said cover further comprises a guard ring fixedly coupled to and supported by said motor base by a plurality of fastening members.
The multi-rotor aircraft of claim 11 wherein at least one of the plurality of fasteners is a hollow structure for passage of a control cable that controls the motor.
The multi-rotor aircraft according to claim 12, wherein the fixing member closest to the body of the plurality of fixing members is a hollow structure.
The multi-rotor aircraft according to claim 11, wherein the fixing members are equiangularly distributed; and/or the fixing members are ribs.
A multi-rotor aircraft according to any one of claims 10 to 14, wherein all or part of said collapsible protective cover is simultaneously a hood-integrated protective cover.
A multi-rotor aircraft according to any of claims 10-14, wherein all or part of said hood-integrated protective cover is simultaneously a collapsible protective cover.
The multi-rotor aircraft according to claim 10, wherein said plurality of propeller guards are both a hood-integrated boot and a collapsible boot.
A multi-rotor aircraft according to claim 17, wherein said plurality of propeller guards are divided into two or more pairs, and two collapsible protective covers of each pair are placed on opposite sides of said fuselage And it is in a high distribution.
The multi-rotor aircraft of claim 18 wherein said multi-rotor aircraft is a quadrotor including four propeller guards.
The multi-rotor aircraft according to claim 19, wherein a pair of propeller guards are disposed adjacent to the fuselage head and are disposed on both sides of the fuselage, and the other pair of propeller guards are disposed adjacent to the tail of the fuselage and are disposed on the fuselage side.
A multi-rotor aircraft according to claim 20, wherein a pair of propeller guards adjacent to the head of the fuselage are placed above and below the fuselage in the collapsed state and overlap in a direction perpendicular to the heading axis. A pair of propeller guards near the rear of the fuselage are also placed above and below the fuselage in the collapsed state and overlap in a direction perpendicular to the heading axis.
The multi-rotor aircraft according to claim 21, wherein the two propeller guards disposed on the same side of the circumference side of the body are placed above and below the body.
A propeller protection cover deployment and/or folding method for a multi-rotor aircraft, the multi-rotor aircraft comprising a fuselage and a plurality of propeller shields, wherein the method comprises:

Unlocking a propeller guard in a first position such that the propeller guard is rotatable about a rotational axis parallel to a heading or roll axis of the multi-rotor;

Rotating the propeller guard to a second position about the rotating shaft; and

Locking the propeller protection cover on the fuselage in the second position, so that the propeller protection cover cannot rotate around the rotating shaft;

Wherein, when the propeller protection cover is located in one of the first position and the second position, the propeller protection cover is located on a circumference side of the fuselage, and the propeller protection cover is located in another one of the first position and the second position The propeller guard is located above or below the fuselage.
The method of claim 23, further comprising: folding a pair of propeller guards above and below the fuselage, respectively.
The method of claim 23, further comprising: folding a pair of propeller guards respectively located on opposite sides of the circumference of the fuselage to above and below the fuselage and locking to the fuselage.
The method according to claim 23, further comprising: folding a pair of propeller guards respectively located on opposite sides of the circumference of the fuselage to above and below the fuselage, and continuing to rotate the pair of propeller protection The cover overlaps in a direction perpendicular to the heading axis and locks the pair of propeller guards on the fuselage.
The method according to claim 23, further comprising: folding a pair of propeller guards adjacent to the head of the fuselage and respectively located on opposite sides of the circumference of the fuselage, respectively, above and below the fuselage Locked on the fuselage.
The method according to claim 23 or 27, further comprising: folding a pair of propeller guards adjacent to the rear of the fuselage and respectively located on opposite sides of the circumference of the fuselage, respectively, above and below the fuselage And locked to the fuselage.
The method according to claim 23 or 27, further comprising: folding a pair of propeller guards near the middle of the fuselage and respectively located on opposite sides of the circumference of the fuselage, respectively, above and below the fuselage And locked to the fuselage.
The method of claim 23, further comprising: folding two adjacent propeller guards on the same side of the circumference of the fuselage, respectively, above and below the fuselage.
The method of claim 23, further comprising: unlocking said propeller guard in said second position such that said propeller guard is rotatable about said axis of rotation; Rotating the propeller guard to the first position; and

The propeller guard is locked to the fuselage in the first position such that the propeller guard cannot rotate about the axis of rotation.