CN113562164A - Coaxial propeller folding mechanism, coaxial unmanned aerial vehicle and propeller folding control method - Google Patents

Abstract

The application discloses coaxial book oar mechanism, coaxial unmanned aerial vehicle and screw open a book control method solves the technical problem that the coaxial unmanned aerial vehicle of prior art exists needs ground personnel manual installation or opens folding screw mechanism. The coaxial paddle folding mechanism comprises more than 2 groups of rotating units which are sequentially arranged from top to bottom, and the more than 2 groups of rotating units are coaxially arranged; each rotating unit comprises a rotating driving device, a hub, a paddle clamp and a rotor blade, the rotating center of the hub is fixedly connected with the torque output end of the rotating driving device, and the rotor blade is hinged to the free end of the hub through the paddle clamp; in the above 2 groups of rotating units, the length from the rotating center to the free end of the propeller hub is reduced from top to bottom in sequence. This rotor blade can open the oar automatically, repeatedly and receive the oar, and lie in the rotor blade of top and roll over the space that the oar was accomodate in the folding below rotor blade back can be left to this guarantees that two oars do not interfere each other.

Description

Coaxial propeller folding mechanism, coaxial unmanned aerial vehicle and propeller folding control method

Technical Field

The application belongs to the technical field of unmanned aerial vehicles, and particularly relates to a coaxial propeller folding mechanism, a coaxial unmanned aerial vehicle and a propeller folding control method.

Background

As the unmanned aerial vehicle control technology is continuously developed, more and more unmanned aerial vehicles of various types have been used in the industrial field. Compare in traditional fixed wing unmanned aerial vehicle, rotor type unmanned aerial vehicle can realize the function of VTOL with simple mechanism, requires lowly to the operation place, receives space environment to influence for a short time, and convenient operation of deploying fast. And compared with the common four-rotor unmanned aerial vehicle, the coaxial rotor unmanned aerial vehicle has a larger-size propeller, and the aerodynamic efficiency is higher, so that the mounting and the endurance of the unmanned aerial vehicle are also more excellent. But also the problem of inconvenient carrying, storage and deployment is brought just because the diameter of coaxial rotor unmanned aerial vehicle screw is great.

Current coaxial unmanned aerial vehicle, after arriving the operation scene, need ground personnel manual installation or open folding screw mechanism, adjust unmanned aerial vehicle to suitable operating condition just can begin the operation, unmanned aerial vehicle retrieves again the flow of repeating, has seriously reduced the operating efficiency. Meanwhile, the working mode needs the participation of ground personnel, and autonomous deployment and flight of the unmanned aerial vehicle are difficult to realize.

Disclosure of Invention

In order to solve the technical problem, the application provides a coaxial book oar mechanism, coaxial unmanned aerial vehicle and screw control method that opens a book, and the screw independently opens rotatoryly when can realizing starting, and the screw independently folds to accomodate when shutting down, has simplified the flow of controlling unmanned aerial vehicle executive task, also provides the basis for unmanned aerial vehicle full autonomous working.

The technical scheme adopted for achieving the purpose of the application is that the coaxial paddle folding mechanism comprises more than 2 groups of rotating units which are sequentially arranged from top to bottom, wherein the more than 2 groups of rotating units are coaxially arranged; each rotating unit comprises a rotating driving device, a hub, a paddle clamp and a rotor blade, the rotating center of the hub is fixedly connected with the torque output end of the rotating driving device, and the rotor blade is hinged to the free end of the hub through the paddle clamp; in the above 2 groups of rotating units, the length from the rotating center to the free end of the propeller hub is reduced from top to bottom in sequence.

Optionally, two rotor blades and two paddle clamps are arranged in the rotating unit; the propeller hubs are symmetrically arranged on the rotation driving device to form two free ends, and the two rotor blades are respectively hinged and arranged on the two free ends through the two propeller clamps.

Optionally, the hub includes a mounting portion and cantilevers located on opposite sides of the mounting portion, and the rotor blades are pivotally mounted to free ends of the cantilevers by the paddle clips.

Optionally, the coaxial paddle folding mechanism includes 2 sets of the rotating units, and the rotating driving devices in the 2 sets of the rotating units are all located between the hubs in the 2 sets of the rotating units.

Based on the same inventive concept, the application also provides a coaxial unmanned aerial vehicle which comprises a host and the coaxial propeller folding mechanism, wherein the coaxial propeller folding mechanism is arranged on the host; the aircraft is characterized in that a flight controller and a power supply device are arranged in the engine room of the main machine, and the flight controller, the power supply device and the rotation driving device are electrically connected.

Optionally, the coaxial unmanned aerial vehicle further comprises a pitch varying mechanism, and the pitch varying mechanism is mounted on the body; the variable pitch mechanism comprises a steering engine, a connecting rod and a tilting tray, wherein a shifting rod is arranged on the steering engine, two ends of the connecting rod are respectively hinged with the shifting rod and the tilting tray, and the tilting tray is hinged with the rotating unit.

Optionally, the coaxial paddle folding mechanism is mounted at the top and/or the bottom of the main machine; the inner cabin center of host computer is provided with the rotor main shaft, 2 rotate the unit from last to concatenating in proper order down more than the group on the rotor main shaft.

Optionally, the main machine comprises a housing, and the rotation driving device and the hub in the rotation unit are both mounted in the housing.

Based on the same inventive concept, the application also provides a propeller unfolding control method applied to the coaxial unmanned aerial vehicle, which comprises a propeller unfolding control method and a propeller folding control method;

the paddle opening control method comprises the following steps:

the flight controller controls the rotation driving device to rotate, the rotation driving device drives the paddle clamp and the rotor blade to rotate through the paddle hub, so that the rotor blade opens the whole paddle plane under the action of centrifugal force, and the rotor blade is opened;

the paddle folding control method comprises the following steps:

and the flight controller controls the rotation driving device to be powered off after reversely rotating so as to brake and stop the rotation driving device, the rotor blade rotates downwards along the propeller hub under the action of gravity and naturally sags, and the propeller folding of the rotor blade is finished.

Further, the method for controlling the opening of the propeller specifically comprises the following steps:

the flight controller controls each rotary driving device in the more than 2 groups of rotary units to rotate sequentially from top to bottom, the rotary driving devices drive the paddle clamps and the rotor blades to rotate through the paddle hubs, so that the rotor blades open the whole paddle plane under the action of centrifugal force, and each rotor blade opens the paddles sequentially from top to bottom;

the paddle folding control method specifically comprises the following steps:

the flight controller controls each of the 2 groups of the rotating units to sequentially reversely rotate and then power off from bottom to top so that the rotating driving devices brake and stop rotating, the rotor blades rotate downwards along the propeller hub under the action of gravity and naturally droop, and the rotor blades sequentially fold propellers from bottom to top.

According to the technical scheme, the coaxial propeller folding mechanism is of a coaxial up-down multi-rotor structure and comprises more than 2 groups of rotating units which are sequentially arranged from top to bottom, and the more than 2 groups of rotating units are coaxially arranged. Each rotating unit comprises a rotating driving device, a hub, a paddle clamp and a rotor blade, the rotating center of the hub is fixedly connected with the torque output end of the rotating driving device, the hub can rotate around the rotating center under the driving of the rotating driving device, the outer edge of the hub forms the free end of the hub, and the rotor blade is hinged to the free end of the hub through the paddle clamp. Due to the hinged structure, when the rotary wing blade rotates, due to centrifugal action, the propeller hub rotating at high speed can throw the rotary wing blade away from the rotating shaft, so that the tail end of the rotary wing blade is gradually lifted, the whole propeller plane is opened, lift force is generated, and the effect of automatically opening the propeller is realized; when the rotation driving device stops, the rotor blades stop rotating along with the rotation driving device, and the rotor blades can rotate downwards along the hinged position of the propeller hub and naturally droop under the action of gravity, so that the effect of automatically retracting the propeller is achieved.

The application provides an among the coaxial oar mechanism of rolling over, the length of the center of rotation to the free end of each propeller hub of 2 units of more than rotating unit reduces from last to lower in proper order, also the radius of rotation of each rotor blade hinged end reduces from last to lower in proper order among the 2 units of more than rotating unit, the radius of rotation that is located the rotor blade hinged end of top is greater than the radius of rotation of the rotor blade hinged end of below, make the rotor blade who is located the top roll over can leave the space that below rotor blade was folded and is accomodate after the oar, with this guarantee that two oars do not interfere each other, can be automatic, open the oar repeatedly and receive the oar.

Compared with the prior art, the application provides a coaxial unmanned aerial vehicle, owing to dispose foretell coaxial oar mechanism of rolling over, under the flight control ware's of host computer control, can control 2 more than the rotation drive arrangement of rotating unit and rotate or stall according to control command, thereby the screw independently opens the rotation when realizing starting, the screw independently folds to accomodate when shutting down, the flow of controlling unmanned aerial vehicle executive task has been simplified, provide the basis for unmanned aerial vehicle autonomous working entirely, be applicable to coaxial rotor class unmanned aerial vehicle's quick deployment and autonomous operation.

Drawings

Fig. 1 is the overall structure of coaxial unmanned aerial vehicle in this application embodiment 1 schematically.

Fig. 2 is a schematic view of an assembly structure of a coaxial propeller folding mechanism and a pitch changing mechanism in the coaxial unmanned aerial vehicle of fig. 1.

Fig. 3 is a schematic structural diagram of a coaxial folding mechanism in the coaxial unmanned aerial vehicle of fig. 1 in an opening state.

Fig. 4 is a schematic structural view of a coaxial propeller folding mechanism in the coaxial unmanned aerial vehicle of fig. 1 in a propeller retracting state.

Description of reference numerals: 1000-coaxial unmanned aerial vehicle; 100-coaxial folding paddle mechanism, 110-upper rotating unit, 111-upper motor, 112-upper hub, 113-upper paddle clamp, 114-upper rotor blade, 115-rotating shaft of upper swing matrix hinge, 116-rotating shaft of upper swing matrix hinge, 120-lower rotating unit, 121-lower motor, 122-lower hub, 123-lower paddle clamp, 124-lower rotor blade, 125-rotating shaft of lower swing matrix hinge, 126-rotating shaft of lower swing matrix hinge; 200-a main engine, 210-a rotor main shaft, 220-a shell, 230-a top cover, 240-a power cabin, 250-a flight control cabin, 260-a battery cabin, 270-a working mechanism, 271-a three-axis stabilizing holder and 272-a camera; 300-a pitch-changing mechanism, 310-a steering engine, 311-a deflector rod, 320-a connecting rod, 330-a tilting tray and 340-a hinged rod.

Detailed Description

In order to make the present application more clearly understood by those skilled in the art to which the present application pertains, the following detailed description of the present application is made with reference to the accompanying drawings by way of specific embodiments.

Aiming at the technical problem that ground personnel are required to manually install or open a folding propeller mechanism in a coaxial unmanned aerial vehicle in the prior art, the application provides a coaxial propeller folding mechanism capable of realizing automatic propeller opening and propeller retracting, and the basic inventive concept is as follows:

the utility model provides a coaxial oar mechanism of rolling over is many rotor structures from top to bottom for the coaxial, and every rotation unit all includes rotation drive arrangement, propeller hub, oar clamp and rotor blade, and the center of rotation of propeller hub and rotation drive arrangement's torque output end fixed connection for the propeller hub can revolute the center of rotation under rotation drive arrangement's drive, then the outward flange of propeller hub constitutes its free end, and rotor blade passes through the articulated free end of installing in the propeller hub of oar clamp. Due to the hinged structure, when the rotary wing blade rotates, due to centrifugal action, the propeller hub rotating at high speed can throw the rotary wing blade away from the rotating shaft, so that the tail end of the rotary wing blade is gradually lifted, the whole propeller plane is opened, lift force is generated, and the effect of automatically opening the propeller is realized; when the rotation driving device stops, the rotor blades stop rotating along with the rotation driving device, and the rotor blades can rotate downwards along the hinged position of the propeller hub and naturally droop under the action of gravity, so that the effect of automatically retracting the propeller is achieved.

The coaxial propeller folding mechanism can be provided with a plurality of rotating units as required, and the propellers can generate a rotating moment to the machine body when rotating, so that the number of the rotating units is preferably even, the number of the rotating units can also be odd, and only the rotating moment generated by each rotating unit is cancelled.

For the clear understanding of the content of the present application, the following takes a dual-rotor coaxial drone as an example, and the content of the present application is described in detail:

example 1:

referring to fig. 1 to 4, in the embodiment of the present application, a coaxial unmanned aerial vehicle 1000, specifically, a dual-rotor coaxial unmanned aerial vehicle 1000, that is, a coaxial folding paddle mechanism 100 includes 2 sets of rotating units, and for convenience of understanding, the 2 sets of rotating units are respectively referred to as an upper rotating unit 110 and a lower rotating unit 120, and each component in the rotating units is correspondingly distinguished by "upper" and "lower".

Specifically, please refer to fig. 1 and fig. 2, the coaxial unmanned aerial vehicle 1000 in this embodiment includes a host 200 and a coaxial paddle folding mechanism 100, the coaxial paddle folding mechanism 100 is installed on the host 200, the coaxial paddle folding mechanism 100 may be installed at the top or the bottom of the host 200 according to the details of the host 200, of course, each rotating unit of the coaxial paddle folding mechanism 100 may be installed at different positions of the host 200 according to the requirement, and the distribution structure of the coaxial paddle folding mechanism 100 on the host 200 is not limited in this application.

In some embodiments, in order to facilitate the installation and fixation of the coaxial folding paddle mechanism 100, a rotor main shaft 210 is disposed at the center of the inner chamber of the main machine 200, and the rotating units are connected in series to the rotor main shaft 210 from top to bottom, so that the rotating units and the main machine 200 are all disposed coaxially. Preferably, the main body 200 is a cylindrical body, and the diameter of the body may be different from place to place, but the whole body is cylindrical.

The flight controller (not shown) and the power supply device (not shown) are provided inside the nacelle of the main unit 200, and the flight controller, the power supply device, and the rotation driving device are electrically connected. The flight controller and the power supply device are indispensable elements in each unmanned aerial vehicle, wherein the flight controller is used for sending a control command to each execution element (a motor, a steering engine, a camera, a searchlight and the like) of the unmanned aerial vehicle, acquiring a feedback signal of each sensor (such as a GPS signal, a pressure sensor, a temperature sensor and the like) and realizing the flight trajectory control and the flight attitude control of the unmanned aerial vehicle, and each execution element and each sensor can be selectively installed on the shell 220 of the host 200 or in the cabin of the host 200; the power supply device is used for supplying power to each electric element in the unmanned aerial vehicle, and the power supply device generally adopts a rechargeable battery. The structure of the flight controller and the power supply device is not improved, and specific contents can be referred to relevant disclosures in the prior art, and are not explained herein.

In summary, referring to fig. 1, a typical host 200 is, from top to bottom: the system comprises a top cover 230, a power cabin 240, a flight control cabin 250, a battery cabin 260 and a working mechanism 270 (such as a three-axis stabilizing pan-tilt head 271 and a camera 272 carried by the three-axis stabilizing pan-tilt head), wherein the coaxial propeller folding mechanism 100 is arranged in the power cabin 240, a flight controller is arranged in the flight control cabin 250, a power supply device is arranged in the battery cabin 260, and the working mechanism 270 for executing tasks is generally located at the bottom end of the unmanned aerial vehicle. In this embodiment, the housing 220 of this coaxial drone is generally cylindrical. The power and control system is mainly arranged on the upper half part of the cylindrical machine body, and the shooting holder and the battery are mainly arranged on the lower half part of the cylindrical machine body.

In this embodiment, the coaxial unmanned aerial vehicle 1000 further includes a pitch varying mechanism 300, and the pitch varying mechanism 300 is mounted on the body and used for adjusting the posture of the paddle disk of the coaxial paddle folding mechanism 100. Referring to fig. 2 to 4, the pitch varying mechanism 300 includes a steering engine 310, a connecting rod 320 and a tilting tray 330, the steering engine 310 is provided with a shift rod 311, two ends of the connecting rod 320 are respectively hinged to the shift rod 311 and the tilting tray 330, and the tilting tray 330 is hinged to the rotating unit. The tilting disk 330 may be hinged to only one of the rotating units of the coaxial folding paddle mechanism 100, or the tilting disk 330 may be hinged to each of the rotating units of the coaxial folding paddle mechanism 100. The present application is not limited in its specific form.

In this embodiment, the pitch varying mechanism 300 is disposed below the coaxial paddle folding mechanism 100, the tilting tray 330 is hinged to a rotating unit located at the lowest position, and more specifically, a hinge rod 340 is disposed at an edge of the tilting tray 330, one end of the hinge rod 340 is hinged to an edge of the tilting tray 330, and the other end is hinged to a hub of the rotating unit located at the lowest position.

In the coaxial unmanned aerial vehicle 1000 of this application, made automatic oar design of rolling over at coaxial book oar mechanism 100, realized that coaxial double rotor is automatic to open the oar, receive oar safe and reliable not to open the oar, the specific structure of coaxial book oar mechanism 100 is introduced in detail below:

referring to fig. 1 to 4, the coaxial folding paddle mechanism 100 of the present embodiment is a coaxial double-paddle structure, and includes an upper rotating unit 110 and a lower rotating unit 1202, the upper rotating unit 110 and the lower rotating unit 120 are coaxially disposed, and the upper rotating unit 110 is located above the lower rotating unit 120. The specific structures of the upper rotating unit 110 and the lower rotating unit 120 may be set to be mirror-symmetrical or identical, and the specific arrangement is not limited in this application.

Referring to fig. 2, each of the rotating units 110/120 in the coaxial blade folding mechanism 100 includes a rotating driving device 111/121, a hub 112/122, a blade clamp, and a rotor blade 114/124, wherein a rotation center of the hub 112/122 is fixedly connected to a torque output end of the rotating driving device 111/121, so that the hub 112/122 can rotate around the rotation center under the driving of the rotating driving device 111/121, an outer edge of the hub 112/122 forms a free end thereof, and the rotor blade 114/124 is hinged to the free end of the hub 112/122 through the blade clamp 113/123. The rotor blades 114/124 are hinged to the paddle clamp 113/123 via a shaft 115/125 to form a pivot hinge that rotates about the Y-axis; paddle clip 113/123 is hinged to hub 112/122 by another pivot shaft 116/126, forming a flapping hinge that rotates about the X-axis. Paddle clip 113/123 acts to provide room for rotor blades 114/124 to swing up and down and side to side, which eliminates the additional stress created by the rotation.

In this embodiment, the rotation driving device adopts a motor to provide high rotation speed, in order to facilitate the installation of the rotor main shaft 210, the motor adopts a brushless motor, an electric tuning ESC (electronic governor, for short, electric tuning) is arranged on the flight controller, and the brushless motor is programmed and controlled by the electronic governor. The rotor blade can set up a slice, two or the multi-disc, considers the cost problem, all sets up 2 rotor blades in every rotation unit in this embodiment. The shape of propeller hub is not limited, can adopt rectangular structure or sheet structure, and the propeller hub includes the installation department and is located the cantilever of installation department both sides in this embodiment, and the installation department is inside to have the cavity, supplies rotor main shaft 210 to pass, and the output shaft of installation department and motor to the transmission power moment of torsion, rotor blade passes through the articulated free end that installs in the cantilever of oar clamp. In order to reduce the weight of the coaxial paddle folding mechanism 100, the paddle hub adopts a carbon fiber framework, and the cantilever is hollowed out to reduce the weight and save materials. The motor and hub are both mounted in a housing 220 of the main unit 200, the housing 220 protecting the battery and hub.

That is, in the present embodiment, the upper rotating unit 110 includes an upper motor 111, an upper hub 112, two upper blades 113, and two upper rotor blades 114, where the upper hub 112 is elongated and the center of gravity thereof is used as the rotation center. The center of the upper hub 112 is fixedly connected with the output shaft of the upper motor 111, two free ends are formed at two ends of the upper hub 112, and two upper rotor blades 114 are respectively hinged and installed on the two free ends through two upper rotor clamps 113. The lower rotating unit 120 includes a lower motor 121, a lower hub 122, two lower blade holders 123, and two lower rotor blades 124, where the lower hub 122 has an elongated shape and a center of gravity thereof is used as a rotation center. The center of the lower hub 122 is fixedly connected with the output shaft of the lower motor 121, two free ends are formed at two ends of the lower hub 122, and two lower rotor blades 124 are respectively hinged and installed on the two free ends through two lower blade clamps 123.

Based on the above structure of the hub, the length from the rotation center to the free end of the hub is half of the length of the hub, the length of the upper hub 112 is denoted as D1, the length of the lower hub 122 is denoted as D2, then the rotation radius r1 of the hinged end of the upper rotor blade 114 is 1/2D1, the rotation radius r2 of the hinged end of the lower rotor blade 124 is 1/2D2, r1 is > r2, and D1 is > D2. Make and to reserve the space that rotor blade 124 was folded and was accomodate down after rotor blade 114 rolled over the oar to this guarantees that two oars do not interfere each other, can open the oar automatically, repeatedly and receive the oar.

Further, in the present embodiment, the upper motor 111 and the lower motor 121 are both located between the upper hub 112 and the lower hub 122, that is, the upper motor 111 and the lower motor 121 are disposed close to each other, so that the distance between the upper hub 112 and the lower hub 122 can be increased, and interference between the upper rotor blade 114 and the lower rotor blade 124 when the blades are folded is further avoided. Through the structure, the whole coaxial paddle folding mechanism 100 forms a coaxial paddle folding mechanism module, and the application range of the coaxial paddle folding mechanism 100 can be widened through the modularized structure.

Example 2:

based on the same inventive concept, the present embodiment provides a propeller unfolding control method applied to the coaxial unmanned aerial vehicle 1000, which may be applied to a dual-rotor coaxial unmanned aerial vehicle or a multi-rotor coaxial unmanned aerial vehicle, and the following takes the coaxial unmanned aerial vehicle 1000 applied to embodiment 1 as an example to describe in detail the propeller unfolding control method of the present embodiment:

the propeller unfolding control method comprises a propeller unfolding control method and a propeller folding control method, wherein the propeller unfolding control method and the propeller folding control method are controlled by a flight controller of the coaxial unmanned aerial vehicle 1000 and are automatically carried out without participation or assistance of ground personnel.

The paddle opening control method comprises the following steps:

the flight controller control rotates drive arrangement and rotates, rotates drive arrangement and passes through the propeller hub and drive the oar and press from both sides and rotor blade high-speed rotation, because centrifugal action, the high-speed rotatory propeller hub can throw away rotor blade to keeping away from the pivot direction for rotor blade tail end promotes gradually, opens whole oar plane, and produces lift. That is, the rotor blade opens the whole oar plane under the centrifugal force effect, realizes that the rotor blade is driven the oar.

Because the coaxial unmanned aerial vehicle 1000 of embodiment 1 has a plurality of rotation units, in order to further avoid interference between the blades, in this embodiment, the flight controller controls each rotation driving device in the rotation unit 110 above the 2 sets to rotate from top to bottom in sequence when the blades are opened, and the rotation driving device drives the rotor blades to rotate through the hub, so that the rotor blades open the whole blade plane under the action of centrifugal force, and the rotor blades open the blades from top to bottom in sequence.

Taking the dual-rotor coaxial unmanned aerial vehicle 1000 as an example, when the propellers need to be opened, the coaxial unmanned aerial vehicle 1000 is started, the flight controller controls the upper motor 111 to be firstly electrified and rotated, after the upper rotor blades 114 are opened, the flight controller controls the lower motor 121 to be electrified and rotated, the lower rotor blades 124 are opened, and the structural diagram of the dual-rotor coaxial unmanned aerial vehicle 1000 after the upper and lower propellers are both opened is shown in fig. 3.

By arranging the opening sequence, it is thereby possible to avoid a situation in which, when the rotor blades are oversized (the blade size is larger than the pitch of upper and lower hubs 122), lower rotor blades 124 open earlier than upper rotor blades 114, resulting in interference of upper rotor blades 114 with lower rotor blades 124.

The paddle folding control method comprises the following steps:

the flight controller controls the rotation driving device to be powered off after the rotation driving device rotates reversely, so that the rotation driving device is braked and stopped, the rotor blades stop along with the rotation driving device and naturally droop under the action of gravity, and the rotor blades can rotate downwards along the rotating shaft of the propeller hub to realize propeller folding. Compare and still can continue to rotate and slow down gradually because of inertia after traditional unmanned aerial vehicle motor outage, the brushless motor is passed through electronic governor ESC programming control to this application, and when master control signal gave the motor outage instruction, the outage produced the rotatory magnetic field of negative sequence in the twinkling of an eye and made the motor stop the commentaries on classics in the twinkling of an eye (within 0.1 second, millisecond level). After the motor brakes, the propeller clamp and the rotor blade stall, centrifugal force disappears, and the stopped propeller clamp and the rotor blade rotate downwards along the rotating shaft of the propeller hub and naturally droop under the action of gravity so as to realize the effect of automatically retracting the propeller of the rotor.

Because coaxial unmanned aerial vehicle 1000 of embodiment 1 has a plurality of rotation units, in order to further avoid interfering between the paddle, in this embodiment, when book oar, each rotation drive arrangement in rotation unit 110 above flight controller control 2 groups from supreme reverse rotation back outage in proper order down to make rotation drive arrangement braking stall, rotor blade is rotatory, the nature is flagging down along the hub under the action of gravity, rotor blade is from supreme book oar down in proper order.

Taking the dual-rotor coaxial unmanned aerial vehicle 1000 as an example, when the propellers need to be folded, the motor 121 is controlled by the flight controller to be powered off and braked first, after the lower rotor blade 124 is folded, the flight controller controls the upper motor 111 to be powered off and braked, the upper rotor blade 114 is folded, and the structure diagram of the dual-rotor coaxial unmanned aerial vehicle 1000 after the upper and lower propellers are folded is shown in fig. 4.

By providing the folding sequence, it is possible to avoid the situation where the upper rotor blades 114 are folded earlier than the lower rotor blades 124 when the rotor blades are oversized (the blade size is larger than the distance between the upper and lower hubs 122), resulting in interference between the upper rotor blades 114 and the lower rotor blades 124.

While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (10)

1. A coaxial oar mechanism of rolling over which characterized in that: the device comprises more than 2 groups of rotating units which are sequentially arranged from top to bottom, wherein the more than 2 groups of rotating units are coaxially arranged; each rotating unit comprises a rotating driving device, a hub, a paddle clamp and a rotor blade, the rotating center of the hub is fixedly connected with the torque output end of the rotating driving device, and the rotor blade is hinged to the free end of the hub through the paddle clamp; in the above 2 groups of rotating units, the length from the rotating center to the free end of the propeller hub is reduced from top to bottom in sequence.

2. The coaxial paddle folding mechanism of claim 1, wherein: two rotor blades and two paddle clamps are arranged in the rotating unit; the propeller hubs are symmetrically arranged on the rotation driving device to form two free ends, and the two rotor blades are respectively hinged and arranged on the two free ends through the two propeller clamps.

3. The coaxial paddle folding mechanism of claim 2, wherein: the propeller hub includes the installation department and is located the cantilever of installation department both sides, rotor blade passes through the oar presss from both sides the articulated installation in the free end of cantilever.

4. The coaxial paddle folding mechanism of any of claims 1-3, wherein: the coaxial paddle folding mechanism comprises 2 groups of rotating units, and the rotating driving devices in the 2 groups of rotating units are all positioned between the hubs in the 2 groups of rotating units.

5. A coaxial unmanned aerial vehicle which characterized in that: the coaxial paddle folding mechanism comprises a main machine and the coaxial paddle folding mechanism of any one of claims 1-4, wherein the coaxial paddle folding mechanism is mounted on the main machine; the aircraft is characterized in that a flight controller and a power supply device are arranged in the engine room of the main machine, and the flight controller, the power supply device and the rotation driving device are electrically connected.

6. The coaxial drone of claim 5, wherein: the coaxial unmanned aerial vehicle further comprises a pitch-changing mechanism, and the pitch-changing mechanism is arranged on the machine body; the variable pitch mechanism comprises a steering engine, a connecting rod and a tilting tray, wherein a shifting rod is arranged on the steering engine, two ends of the connecting rod are respectively hinged with the shifting rod and the tilting tray, and the tilting tray is hinged with the rotating unit.

7. Coaxial drone according to claim 5 or 6, characterized in that: the coaxial paddle folding mechanism is arranged at the top and/or the bottom of the main machine; the inner cabin center of host computer is provided with the rotor main shaft, 2 rotate the unit from last to concatenating in proper order down more than the group on the rotor main shaft.

8. The coaxial drone of claim 7, wherein: the main machine comprises a housing in which the rotation driving device and the hub in the rotation unit are mounted.

9. A propeller unfolding control method applied to the coaxial unmanned aerial vehicle of any one of claims 5-8, characterized in that: the method comprises a paddle opening control method and a paddle folding control method;

the paddle opening control method comprises the following steps:

the flight controller controls the rotation driving device to rotate, the rotation driving device drives the paddle clamp and the rotor blade to rotate through the paddle hub, so that the rotor blade opens the whole paddle plane under the action of centrifugal force, and the rotor blade is opened;

the paddle folding control method comprises the following steps:

and the flight controller controls the rotation driving device to be powered off after reversely rotating so as to brake and stop the rotation driving device, the rotor blade rotates downwards along the propeller hub under the action of gravity and naturally sags, and the propeller folding of the rotor blade is finished.

10. The propeller opening and closing control method according to claim 9, characterized in that:

the paddle opening control method specifically comprises the following steps:

the flight controller controls each rotary driving device in the more than 2 groups of rotary units to rotate sequentially from top to bottom, the rotary driving devices drive the paddle clamps and the rotor blades to rotate through the paddle hubs, so that the rotor blades open the whole paddle plane under the action of centrifugal force, and each rotor blade opens the paddles sequentially from top to bottom;

the paddle folding control method specifically comprises the following steps:

the flight controller controls each of the 2 groups of the rotating units to sequentially reversely rotate and then power off from bottom to top so that the rotating driving devices brake and stop rotating, the rotor blades rotate downwards along the propeller hub under the action of gravity and naturally droop, and the rotor blades sequentially fold propellers from bottom to top.

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