CA2876630A1 - Unmanned rotary wing aircraft with compact folding rotor arms - Google Patents
Unmanned rotary wing aircraft with compact folding rotor arms Download PDFInfo
- Publication number
- CA2876630A1 CA2876630A1 CA2876630A CA2876630A CA2876630A1 CA 2876630 A1 CA2876630 A1 CA 2876630A1 CA 2876630 A CA2876630 A CA 2876630A CA 2876630 A CA2876630 A CA 2876630A CA 2876630 A1 CA2876630 A1 CA 2876630A1
- Authority
- CA
- Canada
- Prior art keywords
- arms
- rotor
- folding
- arm
- folding mechanism
- Prior art date
- Legal status (The legal status 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 status listed.)
- Abandoned
Links
- 230000007246 mechanism Effects 0.000 claims description 36
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 12
- 239000000463 material Substances 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 238000013461 design Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 229920000049 Carbon (fiber) Polymers 0.000 description 3
- 239000004917 carbon fiber Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- -1 for example Substances 0.000 description 2
- 239000003562 lightweight material Substances 0.000 description 2
- 239000002023 wood Substances 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000012858 resilient material Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/293—Foldable or collapsible rotors or rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
- B64U2101/31—UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/50—Undercarriages with landing legs
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Tents Or Canopies (AREA)
Description
UNMANNED' ROTARY :WING itIRCRAFT WITH COMPACT FOLDING
RorroR ARMS :
Wood A multi-rotor UAV comprises a body and a plurality of arms extending radially from the body. A rotor assembly is connected to an outside end of each arm. A folding mechanism is connected to the body and each of the arms for pivoting the arms from an unfolded position, where the arms extend radially outward from the body such that the rotor assemblies are spaced in a predetermined configuration, to a folded position, where compared to the unfolded position an extension of the arms from the body is substantially reduced, and wherein the arms are pivoted such that an outer portion of each arm is enabled to cross the pivot and an inner arm portion of one adjacent arm.
UNMANNED ROTARY WING AIRCRAFT WITH COMPACT FOLDING
ROTOR ARMS
FIELD OF THE INVENTION
The present invention relates to rotary wing aircrafts, and more particularly, to unmanned rotary wing aircrafts with compact folding rotor arms.
BACKGROUND OF THE INVENTION
Due to the present-day advances in computer and telecommunication technologies, there has been a resurgence of interest in the use of Unmanned Anal Vehicles (UAVs), and in particular, of rotary wing type UAVs for performing a variety of aerial missions where the use of manned flight vehicles is not deemed possible or appropriate. Such aerial missions include, for example, surveillance with associated data acquisition and one-way delivery of small payloads.
Typically, rotary wing type UAVs are preferred over fixed wing aircraft due to: the ability to vertically takeoff and land from a static position; the ability to hover; the ability to move sideways; and, the ability to quickly transition between the different types of =
movement.
More recently, multi-rotor designs using a plurality of pairs of identical fixed pitched propellers -with one propeller rotating clockwise and one propeller rotating counter-clockwise - are employed in numerous designs of UAVs. Control of the UAV is achieved by altering the rotation rate of one or more of the propellers to change torque and lift using an electronic control system and electronic sensors.
There are several advantages of the multi-rotor design compared to a single-rotor design.
First, the multi-rotor design does not require mechanical linkages to vary the rotor blade pitch angle while rotating, thus substantially simplifying the construction and maintenance of the aircraft. Second, the use of a plurality of rotors allows each rotor to have a smaller diameter, thus reducing the kinetic energy of each rotor during flight resulting in a simpler and safer construction of the aircraft.
Typically, multi-rotor UAVs comprise a body having a plurality of arms extending radially therefrom and a rotor assembly connected to an outside end of each arm, as disclosed, for example, in US Patent Applications 2010/108801 and 2012/138732.
The arms are connected to the body such that the arms can be pivoted from a flying position, where the arms extend radially outward from the body such that the rotor assemblies are spaced in a desired configuration, to a folded position where the arms are positioned substantially parallel and adjacent to each other for transport and storage making the aircraft less susceptible to damage.
However, the folding mechanism disclosed in the US Patent Applications and 2012/138732 still leaves the folded arms extending outward from the body on one side thereof, making handling of the folded aircraft during transport and storage awkward and making the arms and rotors susceptible to damage.
Furthermore, recent designs of multi-rotor UAVs comprise more than 4 arms ¨
such as, for example, 6 or 8 - for further reducing the size of the rotors and providing further improved control of the aircraft, in particular in case of loss of a rotor.
Unfortunately, use of more than 4 arms substantially complicates the folding of the arms.
It is desirable to provide a multi-rotor UAV having a folding mechanism that enables the arms to be folded into a substantially compact form.
It is also desirable to provide a multi-rotor UAV having a folding mechanism that enables the arms to be folded such that an extension of the arms from the body of the UAV is substantially reduced.
It is also desirable to provide a multi-rotor UAV having a folding mechanism that enables more than 4 arms to be folded into a substantially compact form.
SUMMARY OF THE INVENTION
Accordingly, one object of the present invention is to provide a multi-rotor UAV having a folding mechanism that enables the arms to be folded into a substantially compact form.
Another object of the present invention is to provide a multi-rotor UAV having a folding mechanism that enables the arms to be folded such that an extension of the arms from the body of the UAV is substantially reduced.
Another object of the present invention is to provide a multi-rotor UAV having a folding mechanism that enables more than 4 arms to be folded into a substantially compact form.
According to one aspect of the present invention, there is provided a multi-rotor UAV.
The multi-rotor UAV comprises a body and a plurality of arms extending radially from the body. A rotor assembly is connected to an outside end of each arm. A
folding mechanism is connected to the body and each of the arms for pivoting the arms from an unfolded position, where the arms extend radially outward from the body such that the rotor assemblies are spaced in a predetermined configuration, to a folded position, where compared to the unfolded position an extension of the arms from the body is substantially reduced, and wherein the arms are pivoted such that an outer portion of each arm is enabled to cross the pivot and an inner arm portion of one adjacent arm.
The advantage of the present invention is that it provides a multi-rotor UAV
having a folding mechanism that enables the arms to be folded into a substantially compact form.
A further advantage of the present invention is that it provides a multi-rotor UAV having a folding mechanism that enables the arms to be folded such that an extension of the arms from the body of the UAV is substantially reduced.
A further advantage of the present invention is that it provides a multi-rotor UAV having a folding mechanism that enables more than 4 arms to be folded into a substantially compact form.
BRIEF DESCRIPTION OF THE DRAWINGS
A preferred embodiment of the present invention is described below with reference to the accompanying drawings, in which:
Figures la and lb are simplified block diagrams illustrating a top view and a side view, respectively of a multi-rotor UAV according to a preferred embodiment of the invention with the arms in an unfolded position;
Figures lc and id are simplified block diagrams illustrating a top view and a side view, respectively of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in a folded position;
Figures 2a to 2c are simplified block diagrams illustrating a top view, a side view, and a top perspective view, respectively, of a folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in the unfolded position;
Figures 2d to 2f are simplified block diagrams illustrating a top view, a side view, o and a top perspective view, respectively, of a folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in an intermediate position;
Figures 2g to 2i are simplified block diagrams illustrating a top view, a side view, and a top perspective view, respectively, of a folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in the folded position;
Figures 2j to 21 are simplified block diagrams illustrating a top perspective view, a top view, and a cross sectional view, respectively, of pivots of the folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention;
Figure 2m is a simplified block diagram illustrating a top view of an arm of the folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention;
Figures 2n and 2o are simplified block diagrams illustrating a top view and a cross sectional view, respectively, of a securing mechanism of the folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention;
Figures 3a to 3c are simplified block diagrams illustrating a top view of another folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in an unfolded position, an intermediate position, and a folded position, respectively;
Figure 3d is a simplified block diagram illustrating a side view of the other folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in an intermediate position;
Figures 4a to 4c are simplified block diagrams illustrating a top view of yet another folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in an unfolded position, an intermediate position, and a folded position, respectively; and, Figure 4d is a simplified block diagram illustrating a side view of the yet another folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in an intermediate position.
DESCRIPTION OF THE PREFERRED EMBODIMENT
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs. Although any methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention, the preferred methods and materials are now described.
While the description of the preferred embodiments hereinbelow is with reference to a multi-rotor UAV having 6 arms, it will become evident to those skilled in the art that the embodiments of the invention are not limited thereto, but are also adaptable for use with multi-rotor UAVs having various other numbers of arms such as 4, 8, 10, etc.
Furthermore, while the description of the preferred embodiments hereinbelow is with reference to a mechanism for independently moving the arms for the sake of clarity, it will become evident to those skilled in the art that the embodiments of the invention are not limited thereto, but are also adaptable for simulateously moving the arms by coupling the same.
Referring to Figures la to id, a multi-rotor UAV 100 according to a preferred embodiment of the invention is provided. The multi-rotor UAV 100 has: a body 102; six arms 106.1 ¨ 106.6 extending radially from the body 102; and six rotor assemblies 104.1 -104.6 connected to an outside end of the respective arm 106.1 ¨ 106.6. The rotor assemblies 104.1 -104.6 each comprise, for example, a single rotor or coaxial rotor pairs driven by an electric motor. Using the six rotor assemblies 104.1 -104.6 for creating lift, the multi-rotor UAV 100 is capable of performing the maneuvers a typical single rotor helicopter is capable of, yet does not require the mechanical complexity of the single rotor helicopter. Preferably, the aims 106.1 ¨ 106.6 are positioned extending at regular intervals around a central axis 103, with each arm 106.1 ¨ 106.6 positioning the respective rotor assembly 104.1 -104.6 the same distance from the central axis 103. In operation the multi-rotor UAV 100 is controlled by altering the rotation rate of one or more of the rotors to change torque and lift using an electronic control system disposed in the main body 102 and electronic sensors connected thereto, with the control system and electronic sensors being implemented in a conventional manner known to one of ordinary skill in the art. Preferably, the arms 106.1 ¨ 106.6 are hollow for accommodating wiring -connecting the rotor assemblies 104.1 -104.6 to the electronic control system disposed in the main body 102 ¨therein. Typically, payload 114 such as, for example, a surveillance camera is mounted to the body 102 via support column 110 which also has mounted thereto landing gear 112.
The multi-rotor UAV 100 further comprises folding mechanism 120 having each of the arms 106.1 ¨ 106.6 pivotally movable mounted thereto for pivoting the arms 106.1 ¨
106.6 from an unfolded position, where the arms extend radially outward from the body such that the rotor assemblies 104.1 -104.6 are spaced in a predetermined configuration, as illustrated in Figures la and lb, to a folded position, where compared to the unfolded position an extension of the arms 106.1 ¨ 106.6 from the body 102 is substantially 0 reduced, as illustrated in Figures lc and id. Folding of the arms 106.1 ¨
106.6 into a substantially compact form as, for example, illustrated in Figures lc and Id, is possible by pivoting the arms 106.1¨ 106.6 such that an outer portion of each arm 106.1 ¨ 106.6 is enabled to cross the pivot and an inner arm portion of one adjacent arm 106.1 ¨ 106.6 as will be disclosed in more detail hereinbelow. The folding mechanism 120 is connected to the body 102 via, for example, connecting columns 108 having a predetermined length for providing sufficient space between the same and the bottom of the body 102 for folding/unfolding the arms 106.1 ¨ 106.6.
Referring to Figures 2a to 2o, a folding mechanism 120 of the UAV 100 according to a preferred embodiment of the invention is provided. Figures 2a to 2i illustrate each of three stages ¨ unfolded, intermediate, and folded - of the folding process of the arms 106.1 ¨ 106.6 in a top view, a side view, and a perspective top view, respectively. As will become evident to one skilled in the art, the arms 106.1 ¨ 106.6 are unfolded by simply reversing the order of the stages of the folding process. Each of the arms 106.1 ¨ 106.6 is pivotally mounted via respective pivot 120D.1 ¨ 120D.6 to folding support structure 120A ¨ 120C, as will be described in more detail hereinbelow. In the unfolded position, the arms 106.1 ¨ 106.6 extend radially outward from the folding support structure 120A ¨
120C, as illustrated in Figures 2a to 2c. Initially, the outside ends of the arms 106.1 ¨
106.6 are moved towards each other in pairs - 106.1 & 106.2; 106.3 & 106.4;
and 106.5 & 106.6 ¨with the odd numbered arms 106.1, 106.3, and 106.5 being moved downwardly and the even numbered arms 106.2, 106.4, and 106.6 being moved upwardly, as indicated by the block arrows in Figures 2a to 2c. The upward and downward movement allows the arms of each of the pairs of arms to cross each other while moving the outside end of the arms inwardly towards the central axis 103, as illustrated in Figures 2d to 2E In continuation, this movement allows the arms of each of the pairs to cross each other's pivot and an outside portion of the folding support structure 120A ¨ 120C until the folded position is reached, as illustrated in Figures 2g to 2i.
Preferably, the folding support structure 120A ¨ 120C comprises two concentric flat rings - inner ring 120A and outer ring 120B disposed in a plane perpendicular to the central axis 103, as illustrated in Figure 2a. Flat spokes 120C.1 -120C.6 connect the two rings and extend beyond the outside perimeter of the outer ring 120B a predetermined distance for securing the arms 106.1 ¨ 106.6 in the unfolded position, as will be described hereinbelow. This structure provides sufficient strength while substantially minimizing weight. Of course, other shapes such as, for example, a single wide ring having spokes protruding the perimeter may be employed. Preferably, the folding support structure 120A ¨ 120C is made of a carbon fiber material using standard manufacturing techniques. Alternatively other sufficiently strong light-weight materials such as, for example, plastic, wood, or aluminum may be employed.
The pivots 120D of the odd numbered arms 106 are placed a predetermined distance D3 to the left of the intersection of the respective spoke 120C on the outer ring 120B, while the pivots 120D of the even numbered arms 106 are placed a predetermined distance D4 to the right of the intersection of the respective spoke 120C on the outer ring 120B, as illustrated in Figures 2j and 2k. The axes of the pivots 120D are angled a predetermined angle ¨ a for even numbered arms 106 and 13 for odd numbered arms 106 ¨ with respect to a plane 120E through the central axis 103 and oriented radially outwardly in order to enable the upward/downward movement of the arms 106. Alternatively, the axes of the pivots 120D may be angled with respect to a plane oriented perpendicular to the plane 120E or with respect to both planes. Furthermore, the axes of the pivots 120D
are offset a predetermined distance ¨ D1 for odd numbered arms 106 and D2 for even numbered arms 106 ¨ from the central axis of the respective arm 106, as illustrated in Figure 2k.
The distances D1-D4 are determined in dependence upon the size and geometry of the folding support structure 120A ¨ 120C and the arms 106 as well as the space available for folding the arms 106. Preferably, the angles a and 13 are in the range between 50 and 25c).
It is noted that the angles a and may be the same.
The pivots 120D are provided in a standard, for example, hinge type fashion, as illustrated in Figure 21. For example, the folding support structure 120A ¨
comprises pin type protrusions 120F which are accommodated in a bore of the barrel section 106A of the respective arm 106. The arm 106 is then secured to the folding support structure 120A ¨ 120C via screw 122 and washer 124. The folding support structure 120A ¨ 120C comprising the pin type protrusions 120F is, for example, made as a single unit from carbon fiber material using standard manufacturing techniques.
Alternatively, the pins are mounted to the folding support structure 120A ¨
120C in a standard fashion. The arms 106 comprising the barrel section 106A are, for example, made as a single unit from carbon fiber material or suitable plastic material using standard manufacturing techniques. Alternatively, the barrel section 106A is mounted to the arm 106 in a conventional manner. Further alternatively, the arms 106 are made of another light weight material such as, for example, wood or aluminum.
Preferably, the arms 106 are curved in order to reduce the space needed for the folding process as well as for reducing the space used in the folded position, as illustrated in Figure 2m. Camber C is determined in dependence upon the size and geometry of the folding support structure 120A ¨ 120C and the length L of the arms 106 as well as the space available for folding the arms 106. Alternatively, straight arms 106 are employed at the cost of a greater space needed for the folding process and a greater extension of the arms 106 from the body 102 in the folded position.
Preferably, the arms 106 are secured in the unfolded position using clips 120G
fastened to the respective spoke 120C in a conventional manner using, for example, an adhesive, as illustrated in Figures 2n and 2o. The clips 120G are made of a resilient material such as, for example, a plastic material or a strip of metal sheet material and comprise upper and lower clip legs. When the arm 106 contacts the clip120G the lower clip leg is forced downward such that the arm 106 can move into the upper and lower grooves disposed in the respective upper and lower clip legs. After insertion the clip legs move together and maintain the arm 106 in the grooves. The clips 120G are oriented such that when the arms 106 are engaged the rotor assemblies 104 are placed at their predetemiined position.
The folding mechanism 120 enables the arms 106 to be folded such that an extension of the arms from the body 102 is substantially reduced, for example, from a distance of 5 is feet from the central axis 103 to a distance of 1.5 feet to 2 feet.
Furthermore, the folding mechanism enables more than 4 arms 106 to be folded into a substantially compact form.
Referring to Figures 3a to 3d, another embodiment 220 of a folding mechanism for use with the multi-rotor UAV 100 is provided, with Figures 3a to 3c illustrating three stages ¨
unfolded, intermediate, and folded - of the folding process of the arms 206.1 ¨ 206.6 in a top view and Figure 3d illustrating the intermediate stage in a side view. As will become evident to one skilled in the art, the arms 206.1 ¨206.6 are unfolded by simply reversing the order of the stages of the folding process.
Each of the arms 206.1 ¨ 206.6 is pivotally mounted via respective pivot 220D.1 ¨220D.6 to the folding support structure similar to the one described hereinabove. In the unfolded position the arms 206.1 ¨ 206.6 extend radially outward from the folding support structure, as illustrated in Figure 3a. Here all arms 206.1 ¨ 206.6 are rotated about their respective pivots 220D.1 ¨ 220D.6 in a same, for example, clockwise, direction, as indicated by the block arrows in Figures 3a and 3b. While being rotated all arms 206.1 ¨ 206.6 are moved downwardly, as indicated by the block arrows in Figure 3d. The downward movement allows an outer portion of each of the arms 206.1 ¨
206.6 to cross the pivot and an inner arm portion of one adjacent arm, i.e. the following arm in clockwise direction, to reach the folded position illustrated in Figure 3c.
The pivots 220D
of the arms 206 are placed and oriented similar to the pivots 120D of the odd numbered arms 106 described hereinabove for enabling the downward movement while being rotated. The folding support structure, the pivots 220D and the arms 206 are implemented in a similar fashion as disclosed hereinabove. Since all the arms 206.1 ¨
206.6 are moved downward the folding support structure of the folding mechanism 220 can be directly mounted to the body 102, obviating the connecting columns 108 at the cost of a greater extension of the arms 206 from the body 102 in the folded position.
Furthermore, since all arms 206 are mounted and moved in a same fashion, the folding mechanism 220 is implementable for even as well as odd numbers of arms 206.
Referring to Figures 4a to 4d, yet another embodiment 320 of a folding mechanism for use with the multi-rotor UAV 100 is provided, with Figures 4a to 4c illustrating three stages - unfolded, intermediate, and folded - of the folding process of the arms 306.1 -306.6 in a top view and Figure 4d illustrating the intermediate stage in a side view. As will become evident to one skilled in the art, the arms 306.1 - 306.6 are unfolded by simply reversing the order of the stages of the folding process.
Each of the arms 306.1 -306.6 is pivotally mounted via respective pivot 320D.1 -320D.6 to three parallel folding support structures 320.1 - 320.3, each being similar to 110 the one described hereinabove, with odd numbered aims 306 being mounted between the two top folding support structures 320.1 and 320.2 and the even numbered arms being mounted between the two bottom folding support structures 320.2 and 320.3, as illustrated in Figure 4d. Here the pivots 320D.1 - 320D.6 are oriented parallel to the central axis 103. In the unfolded position the arms 306.1 - 306.6 extend radially outward from the folding support structure, as illustrated in Figure 4a. All anns 306.1 - 306.6 are rotated about their respective pivots 320D.1 - 320D.6 in a same, for example, clockwise, direction, as indicated by the block arrows in Figures 4a and 4b. Alternating placement of the pivots 320D.1 - 320D.6 between the three parallel folding support structures 320.1 -320.3 allows an outer portion of each of the aims 306.1 -306.6 to cross the pivot and an inner arm portion of one adjacent arm, i.e. the following arm in clockwise direction, to reach the folded position illustrated in Figure 4c.
Since all the arms 306.1 ¨ 306.6 are moved in two planes perpendicular to the central axis, the folding support structure of the folding mechanism 320 can be directly mounted to the body 102, obviating the connecting columns 108 at the cost of a greater extension of the arms 206 from the body 102 in the folded position. Furthermore, folding mechanism 320 allows the payload and the landing gear to be directly mounted to the bottom thereof The present invention has been described herein with regard to preferred embodiments.
However, it will be obvious to persons skilled in the art that a number of variations and modifications can be made without departing from the scope of the invention as described herein.
RorroR ARMS :
Wood A multi-rotor UAV comprises a body and a plurality of arms extending radially from the body. A rotor assembly is connected to an outside end of each arm. A folding mechanism is connected to the body and each of the arms for pivoting the arms from an unfolded position, where the arms extend radially outward from the body such that the rotor assemblies are spaced in a predetermined configuration, to a folded position, where compared to the unfolded position an extension of the arms from the body is substantially reduced, and wherein the arms are pivoted such that an outer portion of each arm is enabled to cross the pivot and an inner arm portion of one adjacent arm.
UNMANNED ROTARY WING AIRCRAFT WITH COMPACT FOLDING
ROTOR ARMS
FIELD OF THE INVENTION
The present invention relates to rotary wing aircrafts, and more particularly, to unmanned rotary wing aircrafts with compact folding rotor arms.
BACKGROUND OF THE INVENTION
Due to the present-day advances in computer and telecommunication technologies, there has been a resurgence of interest in the use of Unmanned Anal Vehicles (UAVs), and in particular, of rotary wing type UAVs for performing a variety of aerial missions where the use of manned flight vehicles is not deemed possible or appropriate. Such aerial missions include, for example, surveillance with associated data acquisition and one-way delivery of small payloads.
Typically, rotary wing type UAVs are preferred over fixed wing aircraft due to: the ability to vertically takeoff and land from a static position; the ability to hover; the ability to move sideways; and, the ability to quickly transition between the different types of =
movement.
More recently, multi-rotor designs using a plurality of pairs of identical fixed pitched propellers -with one propeller rotating clockwise and one propeller rotating counter-clockwise - are employed in numerous designs of UAVs. Control of the UAV is achieved by altering the rotation rate of one or more of the propellers to change torque and lift using an electronic control system and electronic sensors.
There are several advantages of the multi-rotor design compared to a single-rotor design.
First, the multi-rotor design does not require mechanical linkages to vary the rotor blade pitch angle while rotating, thus substantially simplifying the construction and maintenance of the aircraft. Second, the use of a plurality of rotors allows each rotor to have a smaller diameter, thus reducing the kinetic energy of each rotor during flight resulting in a simpler and safer construction of the aircraft.
Typically, multi-rotor UAVs comprise a body having a plurality of arms extending radially therefrom and a rotor assembly connected to an outside end of each arm, as disclosed, for example, in US Patent Applications 2010/108801 and 2012/138732.
The arms are connected to the body such that the arms can be pivoted from a flying position, where the arms extend radially outward from the body such that the rotor assemblies are spaced in a desired configuration, to a folded position where the arms are positioned substantially parallel and adjacent to each other for transport and storage making the aircraft less susceptible to damage.
However, the folding mechanism disclosed in the US Patent Applications and 2012/138732 still leaves the folded arms extending outward from the body on one side thereof, making handling of the folded aircraft during transport and storage awkward and making the arms and rotors susceptible to damage.
Furthermore, recent designs of multi-rotor UAVs comprise more than 4 arms ¨
such as, for example, 6 or 8 - for further reducing the size of the rotors and providing further improved control of the aircraft, in particular in case of loss of a rotor.
Unfortunately, use of more than 4 arms substantially complicates the folding of the arms.
It is desirable to provide a multi-rotor UAV having a folding mechanism that enables the arms to be folded into a substantially compact form.
It is also desirable to provide a multi-rotor UAV having a folding mechanism that enables the arms to be folded such that an extension of the arms from the body of the UAV is substantially reduced.
It is also desirable to provide a multi-rotor UAV having a folding mechanism that enables more than 4 arms to be folded into a substantially compact form.
SUMMARY OF THE INVENTION
Accordingly, one object of the present invention is to provide a multi-rotor UAV having a folding mechanism that enables the arms to be folded into a substantially compact form.
Another object of the present invention is to provide a multi-rotor UAV having a folding mechanism that enables the arms to be folded such that an extension of the arms from the body of the UAV is substantially reduced.
Another object of the present invention is to provide a multi-rotor UAV having a folding mechanism that enables more than 4 arms to be folded into a substantially compact form.
According to one aspect of the present invention, there is provided a multi-rotor UAV.
The multi-rotor UAV comprises a body and a plurality of arms extending radially from the body. A rotor assembly is connected to an outside end of each arm. A
folding mechanism is connected to the body and each of the arms for pivoting the arms from an unfolded position, where the arms extend radially outward from the body such that the rotor assemblies are spaced in a predetermined configuration, to a folded position, where compared to the unfolded position an extension of the arms from the body is substantially reduced, and wherein the arms are pivoted such that an outer portion of each arm is enabled to cross the pivot and an inner arm portion of one adjacent arm.
The advantage of the present invention is that it provides a multi-rotor UAV
having a folding mechanism that enables the arms to be folded into a substantially compact form.
A further advantage of the present invention is that it provides a multi-rotor UAV having a folding mechanism that enables the arms to be folded such that an extension of the arms from the body of the UAV is substantially reduced.
A further advantage of the present invention is that it provides a multi-rotor UAV having a folding mechanism that enables more than 4 arms to be folded into a substantially compact form.
BRIEF DESCRIPTION OF THE DRAWINGS
A preferred embodiment of the present invention is described below with reference to the accompanying drawings, in which:
Figures la and lb are simplified block diagrams illustrating a top view and a side view, respectively of a multi-rotor UAV according to a preferred embodiment of the invention with the arms in an unfolded position;
Figures lc and id are simplified block diagrams illustrating a top view and a side view, respectively of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in a folded position;
Figures 2a to 2c are simplified block diagrams illustrating a top view, a side view, and a top perspective view, respectively, of a folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in the unfolded position;
Figures 2d to 2f are simplified block diagrams illustrating a top view, a side view, o and a top perspective view, respectively, of a folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in an intermediate position;
Figures 2g to 2i are simplified block diagrams illustrating a top view, a side view, and a top perspective view, respectively, of a folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in the folded position;
Figures 2j to 21 are simplified block diagrams illustrating a top perspective view, a top view, and a cross sectional view, respectively, of pivots of the folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention;
Figure 2m is a simplified block diagram illustrating a top view of an arm of the folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention;
Figures 2n and 2o are simplified block diagrams illustrating a top view and a cross sectional view, respectively, of a securing mechanism of the folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention;
Figures 3a to 3c are simplified block diagrams illustrating a top view of another folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in an unfolded position, an intermediate position, and a folded position, respectively;
Figure 3d is a simplified block diagram illustrating a side view of the other folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in an intermediate position;
Figures 4a to 4c are simplified block diagrams illustrating a top view of yet another folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in an unfolded position, an intermediate position, and a folded position, respectively; and, Figure 4d is a simplified block diagram illustrating a side view of the yet another folding mechanism of the multi-rotor UAV according to a preferred embodiment of the invention with the arms in an intermediate position.
DESCRIPTION OF THE PREFERRED EMBODIMENT
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs. Although any methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention, the preferred methods and materials are now described.
While the description of the preferred embodiments hereinbelow is with reference to a multi-rotor UAV having 6 arms, it will become evident to those skilled in the art that the embodiments of the invention are not limited thereto, but are also adaptable for use with multi-rotor UAVs having various other numbers of arms such as 4, 8, 10, etc.
Furthermore, while the description of the preferred embodiments hereinbelow is with reference to a mechanism for independently moving the arms for the sake of clarity, it will become evident to those skilled in the art that the embodiments of the invention are not limited thereto, but are also adaptable for simulateously moving the arms by coupling the same.
Referring to Figures la to id, a multi-rotor UAV 100 according to a preferred embodiment of the invention is provided. The multi-rotor UAV 100 has: a body 102; six arms 106.1 ¨ 106.6 extending radially from the body 102; and six rotor assemblies 104.1 -104.6 connected to an outside end of the respective arm 106.1 ¨ 106.6. The rotor assemblies 104.1 -104.6 each comprise, for example, a single rotor or coaxial rotor pairs driven by an electric motor. Using the six rotor assemblies 104.1 -104.6 for creating lift, the multi-rotor UAV 100 is capable of performing the maneuvers a typical single rotor helicopter is capable of, yet does not require the mechanical complexity of the single rotor helicopter. Preferably, the aims 106.1 ¨ 106.6 are positioned extending at regular intervals around a central axis 103, with each arm 106.1 ¨ 106.6 positioning the respective rotor assembly 104.1 -104.6 the same distance from the central axis 103. In operation the multi-rotor UAV 100 is controlled by altering the rotation rate of one or more of the rotors to change torque and lift using an electronic control system disposed in the main body 102 and electronic sensors connected thereto, with the control system and electronic sensors being implemented in a conventional manner known to one of ordinary skill in the art. Preferably, the arms 106.1 ¨ 106.6 are hollow for accommodating wiring -connecting the rotor assemblies 104.1 -104.6 to the electronic control system disposed in the main body 102 ¨therein. Typically, payload 114 such as, for example, a surveillance camera is mounted to the body 102 via support column 110 which also has mounted thereto landing gear 112.
The multi-rotor UAV 100 further comprises folding mechanism 120 having each of the arms 106.1 ¨ 106.6 pivotally movable mounted thereto for pivoting the arms 106.1 ¨
106.6 from an unfolded position, where the arms extend radially outward from the body such that the rotor assemblies 104.1 -104.6 are spaced in a predetermined configuration, as illustrated in Figures la and lb, to a folded position, where compared to the unfolded position an extension of the arms 106.1 ¨ 106.6 from the body 102 is substantially 0 reduced, as illustrated in Figures lc and id. Folding of the arms 106.1 ¨
106.6 into a substantially compact form as, for example, illustrated in Figures lc and Id, is possible by pivoting the arms 106.1¨ 106.6 such that an outer portion of each arm 106.1 ¨ 106.6 is enabled to cross the pivot and an inner arm portion of one adjacent arm 106.1 ¨ 106.6 as will be disclosed in more detail hereinbelow. The folding mechanism 120 is connected to the body 102 via, for example, connecting columns 108 having a predetermined length for providing sufficient space between the same and the bottom of the body 102 for folding/unfolding the arms 106.1 ¨ 106.6.
Referring to Figures 2a to 2o, a folding mechanism 120 of the UAV 100 according to a preferred embodiment of the invention is provided. Figures 2a to 2i illustrate each of three stages ¨ unfolded, intermediate, and folded - of the folding process of the arms 106.1 ¨ 106.6 in a top view, a side view, and a perspective top view, respectively. As will become evident to one skilled in the art, the arms 106.1 ¨ 106.6 are unfolded by simply reversing the order of the stages of the folding process. Each of the arms 106.1 ¨ 106.6 is pivotally mounted via respective pivot 120D.1 ¨ 120D.6 to folding support structure 120A ¨ 120C, as will be described in more detail hereinbelow. In the unfolded position, the arms 106.1 ¨ 106.6 extend radially outward from the folding support structure 120A ¨
120C, as illustrated in Figures 2a to 2c. Initially, the outside ends of the arms 106.1 ¨
106.6 are moved towards each other in pairs - 106.1 & 106.2; 106.3 & 106.4;
and 106.5 & 106.6 ¨with the odd numbered arms 106.1, 106.3, and 106.5 being moved downwardly and the even numbered arms 106.2, 106.4, and 106.6 being moved upwardly, as indicated by the block arrows in Figures 2a to 2c. The upward and downward movement allows the arms of each of the pairs of arms to cross each other while moving the outside end of the arms inwardly towards the central axis 103, as illustrated in Figures 2d to 2E In continuation, this movement allows the arms of each of the pairs to cross each other's pivot and an outside portion of the folding support structure 120A ¨ 120C until the folded position is reached, as illustrated in Figures 2g to 2i.
Preferably, the folding support structure 120A ¨ 120C comprises two concentric flat rings - inner ring 120A and outer ring 120B disposed in a plane perpendicular to the central axis 103, as illustrated in Figure 2a. Flat spokes 120C.1 -120C.6 connect the two rings and extend beyond the outside perimeter of the outer ring 120B a predetermined distance for securing the arms 106.1 ¨ 106.6 in the unfolded position, as will be described hereinbelow. This structure provides sufficient strength while substantially minimizing weight. Of course, other shapes such as, for example, a single wide ring having spokes protruding the perimeter may be employed. Preferably, the folding support structure 120A ¨ 120C is made of a carbon fiber material using standard manufacturing techniques. Alternatively other sufficiently strong light-weight materials such as, for example, plastic, wood, or aluminum may be employed.
The pivots 120D of the odd numbered arms 106 are placed a predetermined distance D3 to the left of the intersection of the respective spoke 120C on the outer ring 120B, while the pivots 120D of the even numbered arms 106 are placed a predetermined distance D4 to the right of the intersection of the respective spoke 120C on the outer ring 120B, as illustrated in Figures 2j and 2k. The axes of the pivots 120D are angled a predetermined angle ¨ a for even numbered arms 106 and 13 for odd numbered arms 106 ¨ with respect to a plane 120E through the central axis 103 and oriented radially outwardly in order to enable the upward/downward movement of the arms 106. Alternatively, the axes of the pivots 120D may be angled with respect to a plane oriented perpendicular to the plane 120E or with respect to both planes. Furthermore, the axes of the pivots 120D
are offset a predetermined distance ¨ D1 for odd numbered arms 106 and D2 for even numbered arms 106 ¨ from the central axis of the respective arm 106, as illustrated in Figure 2k.
The distances D1-D4 are determined in dependence upon the size and geometry of the folding support structure 120A ¨ 120C and the arms 106 as well as the space available for folding the arms 106. Preferably, the angles a and 13 are in the range between 50 and 25c).
It is noted that the angles a and may be the same.
The pivots 120D are provided in a standard, for example, hinge type fashion, as illustrated in Figure 21. For example, the folding support structure 120A ¨
comprises pin type protrusions 120F which are accommodated in a bore of the barrel section 106A of the respective arm 106. The arm 106 is then secured to the folding support structure 120A ¨ 120C via screw 122 and washer 124. The folding support structure 120A ¨ 120C comprising the pin type protrusions 120F is, for example, made as a single unit from carbon fiber material using standard manufacturing techniques.
Alternatively, the pins are mounted to the folding support structure 120A ¨
120C in a standard fashion. The arms 106 comprising the barrel section 106A are, for example, made as a single unit from carbon fiber material or suitable plastic material using standard manufacturing techniques. Alternatively, the barrel section 106A is mounted to the arm 106 in a conventional manner. Further alternatively, the arms 106 are made of another light weight material such as, for example, wood or aluminum.
Preferably, the arms 106 are curved in order to reduce the space needed for the folding process as well as for reducing the space used in the folded position, as illustrated in Figure 2m. Camber C is determined in dependence upon the size and geometry of the folding support structure 120A ¨ 120C and the length L of the arms 106 as well as the space available for folding the arms 106. Alternatively, straight arms 106 are employed at the cost of a greater space needed for the folding process and a greater extension of the arms 106 from the body 102 in the folded position.
Preferably, the arms 106 are secured in the unfolded position using clips 120G
fastened to the respective spoke 120C in a conventional manner using, for example, an adhesive, as illustrated in Figures 2n and 2o. The clips 120G are made of a resilient material such as, for example, a plastic material or a strip of metal sheet material and comprise upper and lower clip legs. When the arm 106 contacts the clip120G the lower clip leg is forced downward such that the arm 106 can move into the upper and lower grooves disposed in the respective upper and lower clip legs. After insertion the clip legs move together and maintain the arm 106 in the grooves. The clips 120G are oriented such that when the arms 106 are engaged the rotor assemblies 104 are placed at their predetemiined position.
The folding mechanism 120 enables the arms 106 to be folded such that an extension of the arms from the body 102 is substantially reduced, for example, from a distance of 5 is feet from the central axis 103 to a distance of 1.5 feet to 2 feet.
Furthermore, the folding mechanism enables more than 4 arms 106 to be folded into a substantially compact form.
Referring to Figures 3a to 3d, another embodiment 220 of a folding mechanism for use with the multi-rotor UAV 100 is provided, with Figures 3a to 3c illustrating three stages ¨
unfolded, intermediate, and folded - of the folding process of the arms 206.1 ¨ 206.6 in a top view and Figure 3d illustrating the intermediate stage in a side view. As will become evident to one skilled in the art, the arms 206.1 ¨206.6 are unfolded by simply reversing the order of the stages of the folding process.
Each of the arms 206.1 ¨ 206.6 is pivotally mounted via respective pivot 220D.1 ¨220D.6 to the folding support structure similar to the one described hereinabove. In the unfolded position the arms 206.1 ¨ 206.6 extend radially outward from the folding support structure, as illustrated in Figure 3a. Here all arms 206.1 ¨ 206.6 are rotated about their respective pivots 220D.1 ¨ 220D.6 in a same, for example, clockwise, direction, as indicated by the block arrows in Figures 3a and 3b. While being rotated all arms 206.1 ¨ 206.6 are moved downwardly, as indicated by the block arrows in Figure 3d. The downward movement allows an outer portion of each of the arms 206.1 ¨
206.6 to cross the pivot and an inner arm portion of one adjacent arm, i.e. the following arm in clockwise direction, to reach the folded position illustrated in Figure 3c.
The pivots 220D
of the arms 206 are placed and oriented similar to the pivots 120D of the odd numbered arms 106 described hereinabove for enabling the downward movement while being rotated. The folding support structure, the pivots 220D and the arms 206 are implemented in a similar fashion as disclosed hereinabove. Since all the arms 206.1 ¨
206.6 are moved downward the folding support structure of the folding mechanism 220 can be directly mounted to the body 102, obviating the connecting columns 108 at the cost of a greater extension of the arms 206 from the body 102 in the folded position.
Furthermore, since all arms 206 are mounted and moved in a same fashion, the folding mechanism 220 is implementable for even as well as odd numbers of arms 206.
Referring to Figures 4a to 4d, yet another embodiment 320 of a folding mechanism for use with the multi-rotor UAV 100 is provided, with Figures 4a to 4c illustrating three stages - unfolded, intermediate, and folded - of the folding process of the arms 306.1 -306.6 in a top view and Figure 4d illustrating the intermediate stage in a side view. As will become evident to one skilled in the art, the arms 306.1 - 306.6 are unfolded by simply reversing the order of the stages of the folding process.
Each of the arms 306.1 -306.6 is pivotally mounted via respective pivot 320D.1 -320D.6 to three parallel folding support structures 320.1 - 320.3, each being similar to 110 the one described hereinabove, with odd numbered aims 306 being mounted between the two top folding support structures 320.1 and 320.2 and the even numbered arms being mounted between the two bottom folding support structures 320.2 and 320.3, as illustrated in Figure 4d. Here the pivots 320D.1 - 320D.6 are oriented parallel to the central axis 103. In the unfolded position the arms 306.1 - 306.6 extend radially outward from the folding support structure, as illustrated in Figure 4a. All anns 306.1 - 306.6 are rotated about their respective pivots 320D.1 - 320D.6 in a same, for example, clockwise, direction, as indicated by the block arrows in Figures 4a and 4b. Alternating placement of the pivots 320D.1 - 320D.6 between the three parallel folding support structures 320.1 -320.3 allows an outer portion of each of the aims 306.1 -306.6 to cross the pivot and an inner arm portion of one adjacent arm, i.e. the following arm in clockwise direction, to reach the folded position illustrated in Figure 4c.
Since all the arms 306.1 ¨ 306.6 are moved in two planes perpendicular to the central axis, the folding support structure of the folding mechanism 320 can be directly mounted to the body 102, obviating the connecting columns 108 at the cost of a greater extension of the arms 206 from the body 102 in the folded position. Furthermore, folding mechanism 320 allows the payload and the landing gear to be directly mounted to the bottom thereof The present invention has been described herein with regard to preferred embodiments.
However, it will be obvious to persons skilled in the art that a number of variations and modifications can be made without departing from the scope of the invention as described herein.
Claims
1. A multi-rotor UAV comprising:
a. a body;
b. a plurality of arms extending radially from the body;
c. a rotor assembly connected to an outside end of each arm; and, d. a folding mechanism connected to the body and each of the arms for pivoting the arms from an unfolded position, where the arms extend radially outward from the body such that the rotor assemblies are spaced in a predetermined configuration, to a folded position, where compared to the unfolded position an extension of the arms from the body is substantially reduced, and wherein the arms are pivoted such that an outer portion of each arm is enabled to cross the pivot and an inner arm portion of one adjacent arm.
a. a body;
b. a plurality of arms extending radially from the body;
c. a rotor assembly connected to an outside end of each arm; and, d. a folding mechanism connected to the body and each of the arms for pivoting the arms from an unfolded position, where the arms extend radially outward from the body such that the rotor assemblies are spaced in a predetermined configuration, to a folded position, where compared to the unfolded position an extension of the arms from the body is substantially reduced, and wherein the arms are pivoted such that an outer portion of each arm is enabled to cross the pivot and an inner arm portion of one adjacent arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2876630A CA2876630A1 (en) | 2015-01-02 | 2015-01-02 | Unmanned rotary wing aircraft with compact folding rotor arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2876630A CA2876630A1 (en) | 2015-01-02 | 2015-01-02 | Unmanned rotary wing aircraft with compact folding rotor arms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2876630A1 true CA2876630A1 (en) | 2016-07-02 |
Family
ID=56236136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2876630A Abandoned CA2876630A1 (en) | 2015-01-02 | 2015-01-02 | Unmanned rotary wing aircraft with compact folding rotor arms |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2876630A1 (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184728A (en) * | 2016-07-08 | 2016-12-07 | 武汉科技大学 | A kind of rotary telescopic variable-torque quadrotor |
| CN106347630A (en) * | 2016-09-08 | 2017-01-25 | 深圳创动科技有限公司 | Aircraft and foldable rotor arm thereof |
| US20170043870A1 (en) * | 2015-06-01 | 2017-02-16 | SZ DJI Technology Co., Ltd. | Systems and methods for foldable arms |
| CN106892086A (en) * | 2017-03-28 | 2017-06-27 | 卢旭升 | A kind of multi-rotor unmanned aerial vehicle |
| CN106945818A (en) * | 2017-05-05 | 2017-07-14 | 安元（徐州）大数据科技有限公司 | One kind folds horn and unmanned plane |
| CN107108013A (en) * | 2016-07-28 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Housing assembly and the unmanned plane using the housing assembly |
| CN107117296A (en) * | 2017-04-05 | 2017-09-01 | 西北工业大学 | A kind of foldable quadrotor frame |
| CN107512390A (en) * | 2017-08-22 | 2017-12-26 | 北京航宇测通电子科技有限公司 | A kind of disc-shaped unmanned machine |
| CN107618651A (en) * | 2017-09-14 | 2018-01-23 | 上海电力学院 | A kind of multi-rotor unmanned aerial vehicle horn is remotely controlled draw off gear |
| CN107628225A (en) * | 2017-09-25 | 2018-01-26 | 安徽瓦尔特机械贸易有限公司 | A kind of horn component of rotor wing unmanned aerial vehicle |
| CN107628226A (en) * | 2017-09-25 | 2018-01-26 | 安徽瓦尔特机械贸易有限公司 | The attachment structure of rotor wing unmanned aerial vehicle horn and fuselage |
| WO2018052506A1 (en) * | 2016-04-06 | 2018-03-22 | Benjamin Harris | Folding heavy-lift unmanned aerial vehicle frame |
| WO2018076253A1 (en) * | 2016-10-27 | 2018-05-03 | 深圳市大疆创新科技有限公司 | Connection assembly, unmanned aerial vehicle arm and unmanned aerial vehicle |
| CN108177770A (en) * | 2018-01-05 | 2018-06-19 | 安徽樵森电气科技股份有限公司 | A kind of novel horn of unmanned plane with regulatory function |
| WO2018157833A1 (en) * | 2017-03-02 | 2018-09-07 | 亿航智能设备（广州）有限公司 | Novel unmanned aerial vehicle |
| CN108513555A (en) * | 2017-02-24 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Foldable rack, rack components and unmanned vehicle |
| WO2018201417A1 (en) * | 2017-05-05 | 2018-11-08 | 深圳市大疆创新科技有限公司 | Deformable aircraft, mobile platform and operating method therefor |
| CN109070991A (en) * | 2017-09-30 | 2018-12-21 | 深圳市大疆创新科技有限公司 | The rack components and unmanned plane of unmanned plane |
| CN110758728A (en) * | 2019-11-04 | 2020-02-07 | 西安交通大学 | Many rotor unmanned aerial vehicle of force feedback |
| CN111655577A (en) * | 2018-11-30 | 2020-09-11 | 深圳市大疆创新科技有限公司 | Foldable unmanned aerial vehicle |
| CN114261502A (en) * | 2021-12-28 | 2022-04-01 | 同济大学 | Novel rotor airship mechanism |
-
2015
- 2015-01-02 CA CA2876630A patent/CA2876630A1/en not_active Abandoned
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170043870A1 (en) * | 2015-06-01 | 2017-02-16 | SZ DJI Technology Co., Ltd. | Systems and methods for foldable arms |
| US11091262B2 (en) | 2015-06-01 | 2021-08-17 | SZ DJI Technology Co., Ltd. | Systems and methods for foldable arms |
| US10472063B2 (en) | 2015-06-01 | 2019-11-12 | SZ DJI Technology Co., Ltd. | Systems and methods for foldable arms |
| US10202191B2 (en) | 2015-06-01 | 2019-02-12 | SZ DJI Technology Co., Ltd. | Systems and methods for foldable arms |
| US9914537B2 (en) * | 2015-06-01 | 2018-03-13 | SZ DJI Technology Co., Ltd | Systems and methods for foldable arms |
| WO2018052506A1 (en) * | 2016-04-06 | 2018-03-22 | Benjamin Harris | Folding heavy-lift unmanned aerial vehicle frame |
| CN106184728A (en) * | 2016-07-08 | 2016-12-07 | 武汉科技大学 | A kind of rotary telescopic variable-torque quadrotor |
| WO2018018503A1 (en) * | 2016-07-28 | 2018-02-01 | 深圳市大疆创新科技有限公司 | Chassis assembly and unmanned aerial vehicle utilizing same |
| CN107108013A (en) * | 2016-07-28 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Housing assembly and the unmanned plane using the housing assembly |
| CN107108013B (en) * | 2016-07-28 | 2019-08-09 | 深圳市大疆创新科技有限公司 | Rack components and the unmanned plane for using the rack components |
| CN106347630A (en) * | 2016-09-08 | 2017-01-25 | 深圳创动科技有限公司 | Aircraft and foldable rotor arm thereof |
| WO2018076253A1 (en) * | 2016-10-27 | 2018-05-03 | 深圳市大疆创新科技有限公司 | Connection assembly, unmanned aerial vehicle arm and unmanned aerial vehicle |
| CN108513555A (en) * | 2017-02-24 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Foldable rack, rack components and unmanned vehicle |
| WO2018157833A1 (en) * | 2017-03-02 | 2018-09-07 | 亿航智能设备（广州）有限公司 | Novel unmanned aerial vehicle |
| CN106892086A (en) * | 2017-03-28 | 2017-06-27 | 卢旭升 | A kind of multi-rotor unmanned aerial vehicle |
| CN107117296A (en) * | 2017-04-05 | 2017-09-01 | 西北工业大学 | A kind of foldable quadrotor frame |
| WO2018201417A1 (en) * | 2017-05-05 | 2018-11-08 | 深圳市大疆创新科技有限公司 | Deformable aircraft, mobile platform and operating method therefor |
| CN106945818A (en) * | 2017-05-05 | 2017-07-14 | 安元（徐州）大数据科技有限公司 | One kind folds horn and unmanned plane |
| CN107512390A (en) * | 2017-08-22 | 2017-12-26 | 北京航宇测通电子科技有限公司 | A kind of disc-shaped unmanned machine |
| CN107618651A (en) * | 2017-09-14 | 2018-01-23 | 上海电力学院 | A kind of multi-rotor unmanned aerial vehicle horn is remotely controlled draw off gear |
| CN107618651B (en) * | 2017-09-14 | 2024-02-27 | 上海电力学院 | Multi-rotor unmanned aerial vehicle horn remote control retraction device |
| CN107628226A (en) * | 2017-09-25 | 2018-01-26 | 安徽瓦尔特机械贸易有限公司 | The attachment structure of rotor wing unmanned aerial vehicle horn and fuselage |
| CN107628225A (en) * | 2017-09-25 | 2018-01-26 | 安徽瓦尔特机械贸易有限公司 | A kind of horn component of rotor wing unmanned aerial vehicle |
| CN109070991A (en) * | 2017-09-30 | 2018-12-21 | 深圳市大疆创新科技有限公司 | The rack components and unmanned plane of unmanned plane |
| CN109070991B (en) * | 2017-09-30 | 2021-09-14 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle's frame subassembly and unmanned aerial vehicle |
| CN108177770A (en) * | 2018-01-05 | 2018-06-19 | 安徽樵森电气科技股份有限公司 | A kind of novel horn of unmanned plane with regulatory function |
| CN111655577A (en) * | 2018-11-30 | 2020-09-11 | 深圳市大疆创新科技有限公司 | Foldable unmanned aerial vehicle |
| CN111655577B (en) * | 2018-11-30 | 2024-01-26 | 深圳市大疆创新科技有限公司 | Foldable unmanned aerial vehicle |
| CN110758728A (en) * | 2019-11-04 | 2020-02-07 | 西安交通大学 | Many rotor unmanned aerial vehicle of force feedback |
| CN114261502A (en) * | 2021-12-28 | 2022-04-01 | 同济大学 | Novel rotor airship mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2876630A1 (en) | Unmanned rotary wing aircraft with compact folding rotor arms | |
| US10035581B2 (en) | Multi-rotor UAV with compact folding rotor arms | |
| US10414483B2 (en) | Tiltrotor articulated wing extension | |
| EP3439951B1 (en) | Rotating wing assemblies for tailsitter aircraft | |
| US10279901B2 (en) | Rotating proprotor arrangement for a tiltrotor aircraft | |
| CN205554584U (en) | Unmanned vehicles and frame thereof | |
| EP3121117B1 (en) | Control system and strategy for tail sitter | |
| EP3290338B1 (en) | Aircraft having rotor-to-wing conversion capabilities | |
| EP3296201B1 (en) | Storage modes for tiltrotor aircraft | |
| EP3797070B1 (en) | Folding concentrically mounted propeller blades for drag reduction | |
| EP0696983B1 (en) | Ancillary aerodynamic structures for an unmanned aerial vehicle having ducted, coaxial counter-rotating rotors | |
| US7118340B2 (en) | Swashplate and pitch link arrangement for a coaxial counter rotating rotor system | |
| US3515500A (en) | Aircraft rotor or propeller having blades which fold with pitch control mechanism controlling blade pitch during normal operation and during the folding and unfolding operation | |
| WO2016200502A2 (en) | Remotely controlled modular vtol aircraft and re-configurable system using same | |
| EP3261925B1 (en) | Tiltrotor with double mobile wing | |
| CN101973392A (en) | Four-rotor aircraft with telescopic body | |
| WO2017120654A1 (en) | Multi-rotor uav with compact folding rotor arms | |
| CN110683049B (en) | Hub device for small-sized tilt rotor aircraft | |
| EP3299279B1 (en) | Aircraft with a fuselage-mounted engine and wing stow | |
| CN105599898A (en) | Three-rotor-wing tail rotor hub of unmanned helicopter | |
| CN105539832B (en) | A kind of multi-rotor unmanned aerial vehicle power plant of variable pitch | |
| EP3564119B1 (en) | Multi-rotor unmanned aerial vehicle | |
| CA2917434C (en) | Multi-rotor uav with compact folding rotor arms | |
| US20180050792A1 (en) | Aircraft having Radially Extendable Tailboom Assembly | |
| EP3587264A1 (en) | Tail sitter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20191220 |
|
| FZDE | Discontinued |
Effective date: 20220719 |
|
| FZDE | Discontinued |
Effective date: 20220719 |