CN206856987U - A kind of multirotor helicopter folding system - Google Patents
A kind of multirotor helicopter folding system Download PDFInfo
- Publication number
- CN206856987U CN206856987U CN201720596024.7U CN201720596024U CN206856987U CN 206856987 U CN206856987 U CN 206856987U CN 201720596024 U CN201720596024 U CN 201720596024U CN 206856987 U CN206856987 U CN 206856987U
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- rotor
- folding
- cantilever
- worm gear
- stop pin
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Abstract
It the utility model is related to helicopter manufacturing technology field, and in particular to a kind of multirotor helicopter folding system.The utility model can provide a kind of multirotor helicopter folding system, by setting structure and the combination of control unit and relay of worm and gear, realize and improve the reliability that helicopter wing is packed up and opened.A kind of multirotor helicopter folding system provided by the utility model, include the folding device of three rotors, four rotors or six rotor structures.The utility model is widely used, such as military, civilian, agriculture, commercial transport, unmanned plane and the model of an airplane.
Description
Technical field
It the utility model is related to aircraft manufacturing technical field, and in particular to a kind of multirotor helicopter folding system.
Background technology
Vertically taking off and landing flyer in the market mainly have electronic more rotors, directly drive more rotors, single-rotor helicopter and
Coaxial double-oar helicopter etc..
Chinese patent CN201385780Y discloses the propeller on a kind of aircraft, particularly a kind of foldable, flexible
New type propeller, the propeller include the blade of rotary shaft and installation on the rotary shaft, it is characterised in that in the end of main blade
There is chute, have secondary chute in the root of flexible blade, flexible blade is enclosed in the chute of main blade tips, and main blade is enclosed on flexible
In the secondary chute of blade, main blade is connected with rotary shaft hinge.The utility model is scalable by being mounted with main blade
Blade, the change of blade rotating diameter can be achieved, the thrust of aircraft is effectively changed, especially suitable on automobile aerocraft
Use, there is the characteristics of simple in construction.
Also there is irrational mix in above-mentioned patent, it is impossible to ensure smoothly wing can be opened and packed up every time.
Utility model content
The technical problems to be solved in the utility model is, there is provided a kind of multirotor helicopter folding system, passes through setting
The structure of worm and gear and the combination of control unit and relay, realize and improve the reliability that helicopter wing is packed up and opened.
To solve the above problems, a kind of multirotor helicopter folding system provided by the utility model, including folding device,
The folding device includes controlled unit and controlled and the cantilever fixed seat that is separately positioned on support, the cantilever fixed seat with
Cantilever positioning seat mutually fastens and cantilever is provided with the interstitial hole of formation, and the cantilever fixed seat is provided with pin with cantilever positioning seat
Hole, one end of the cantilever are provided with cantilever foldable base, and the outside of the cantilever foldable base is relative to be provided with two folding reference axis,
The side for folding reference axis, which is provided with, folds worm gear, and the bottom for folding worm gear is provided with the first row degree level sensor, institute
State and fold the folding driving worm engaging transmission that worm gear is set with its outside, foldable assembly, institute are provided with the cantilever foldable base
State foldable assembly to be connected with cantilever holder assembly, the cantilever holder assembly is provided with power transmission shaft foldable assembly, and the power transmission shaft folds
Component is connected with the rotor school position worm gear provided with transmission component fixed seat；
The stop pin set in the transmission component fixed seat drives worm gear to be connected by spring with stop pin, the locking
Pin driving worm gear and stop pin and rotor school position driving worm screw be connecteds, and stop pin and rotor the school position drives worm screw provided with the
Triple-travel limit sensors；
The other end of the cantilever is provided with power transmission shaft and rotor, and the power transmission shaft is connected with rotor school position worm gear, the biography
Moving axis is flexibly connected with rotor school position worm gear end by folding reference axis, and the shaft end of rotor school position worm gear is power transmission shaft master
Moved end；
The end of the rotor is provided with rotor driving worm gear, and the rotor driving worm gear is with being arranged on rotor motor
Rotor driving worm engaging enter action edge transmission；
The cantilever foldable base is arranged on the end of rotor shaft, in the rotor shaft according to from top to bottom be sequentially with rotation
Wing shaft flange, displacement seat, connecting rod base and spheroid；
Described control unit and relay respectively with the first row degree level sensor, the second stroke limit sensor, the 3rd
Stroke limit sensor, fourth line degree level sensor and folding driving endless screw electric motor, stop pin and rotor school position driving worm screw
Motor, rotor fold motor and realize that electrical connection carries out signal transmission.
The link position of preferable technical scheme, the rotor and rotor driving worm gear is provided with the arc to its internal contraction
Shape.
Preferable technical scheme, the either end of the stop pin are the worm gear of the end of thread, the end of thread and rectangular configuration
Connection end connects.
Preferable technical scheme, including three rotors, four rotors or six rotations that controlled unit is controlled and is arranged on support
Swing device.
Preferable technical scheme, three rotor driver include being arranged on the support of triangular form in the folding of 120 ° of settings
Device.
Preferable technical scheme, four rotor driver are included being arranged on round support in the folding dress of 45 ° of settings
Put.
Preferable technical scheme, six rotor driver are included being arranged on round support in the folding dress of 60 ° of settings
Put.
Preferable technical scheme, the motor for the driving endless screw electric motor of folding, stop pin and rotor school position driving worm screw
And rotor motor is that bi-motor is connected in series, one of which motor is as standby motor.
Preferable technical scheme, the axis of rotation of the rotor fold for worm gear axle center and to fuselage cantilevered orientation.
Multirotor helicopter folding system provided by the utility model compared with prior art, has the advantages that：
1st, the utility model is widely used, can apply to various fields, such as military, civilian, agriculture, commercial transport, unmanned plane and
Model of an airplane etc..
2nd, the utility model is simple in construction, can smoothly realize the opening of wing and pack up.
Brief description of the drawings
Fig. 1 is the top view of three rotors of multirotor helicopter folding system described in the utility model；
Fig. 2 is the top view of four rotors of multirotor helicopter folding system described in the utility model；
Fig. 3 is the top view of six rotors of multirotor helicopter folding system described in the utility model；
Fig. 4 is the three-dimensional structure diagram of multirotor helicopter folding system described in the utility model；
Fig. 5 is the cut-away view of multirotor helicopter folding system described in the utility model；
Fig. 6 is the internal structure front view of multirotor helicopter folding system described in the utility model；
Fig. 7 is the top view of multirotor helicopter folding system described in the utility model；
Fig. 8 is the inside front view of multirotor helicopter folding system described in the utility model；
Fig. 9 is the internal structure top view of multirotor helicopter folding system described in the utility model；
Figure 10 is the three-dimensional structure diagram of cantilever foldable base in multirotor helicopter folding system described in the utility model；
Figure 11 is the three-dimensional structure diagram of the stop pin of multirotor helicopter folding system described in the utility model；
Figure 12 is that the power transmission shaft of multirotor helicopter folding system described in the utility model is connected with rotor school position worm gear
Three-dimensional structure diagram；
Figure 13 is Figure 12 front view；
Figure 14 is the front view of rotor in multirotor helicopter folding system described in the utility model；
Figure 15 is the front view of cantilever in multirotor helicopter folding system described in the utility model；
Figure 16 is the cantilever and rotor front view of multirotor helicopter folding system described in the utility model；
Figure 17 is the cut-away view of the middle rotor of multirotor helicopter folding system described in the utility model；
Figure 18 is the position setting figure of the fourth line journey switch of multirotor helicopter folding system described in the utility model；
Figure 19 is the structure chart of rotor driving worm and worm wheel in multirotor helicopter folding system described in the utility model；
Figure 20 is the rotary shaft connection structure diagram in multirotor helicopter folding system described in the utility model；
Figure 21 is control unit fundamental diagram in multirotor helicopter folding system described in the utility model.Reference
In figure：1-cantilever, 2-stop pin, 3-folding turbine, 4-folding driving worm screw, 5-transmission component fixed seat,
6-spring, 7-stop pin driving turbine, 8-rotor school position driving worm screw, 9-fourth line degree level sensor, 10-rotor
School position worm gear, 11-third trip limit sensors, the 12-the second stroke limit sensor, 13-fold reference axis, 14-rotation
Arm foldable base, 15-power transmission shaft, 16-drive end, 17-the first row degree level sensor, 18-spiral arm fixed seat, 19-pin
Hole, 20-spiral arm positioning seat, 21-end of thread, 22-worm gear connection end；30-rotor, 31-foldable assembly, 32-rotor drive
Dynamic worm screw, 33-rotor driving worm gear, 34-rotor motor, 35-power transmission shaft foldable assembly, 36-spiral arm holder assembly,
37-displacement seat, 38-spheroid, 39-connecting rod base, 40-rotor shaft flange, 41-rotor shaft.
Embodiment
Specific embodiment of the present utility model is described in detail below with reference to accompanying drawing.
Embodiment 1
As shown in Fig. 1,4 to 21, the present embodiment provides a kind of multirotor helicopter folding system, is the folding of three rotors
Folded system, concrete structure are discussed in detail using the structure in three rotors as representative, the folding device of concrete structure, including controlled list
Member control and the cantilever fixed seat 18 being separately positioned on the support of triangular form, the cantilever fixed seat 18 and cantilever positioning seat 20
Mutually fastening and cantilever 1 is provided with the interstitial hole formed, the cantilever fixed seat 18 is provided with pin-and-hole 19 with cantilever positioning seat 20,
One end of the cantilever 1 is provided with cantilever foldable base 14, and the outside of the cantilever foldable base 14 is relative to be provided with two folding reference axis
13, the side for folding reference axis 13, which is provided with, folds worm gear 3, and the bottom for folding worm gear 3 passes provided with the first stroke limit
Sensor 17, it is described to fold worm gear 3 and the folding driving engaged transmission of worm screw 4 of its outside setting, set in the cantilever foldable base 14
There is foldable assembly 31, the foldable assembly 31 is connected with cantilever holder assembly 36, and the cantilever holder assembly 36 is rolled over provided with power transmission shaft
Stacked group part 35, the power transmission shaft foldable assembly 35 are connected with the rotor school position worm gear 10 provided with transmission component fixed seat 5；
The stop pin 2 set in the transmission component fixed seat 5 drives worm gear 7 to be connected by spring 6 with stop pin, described
Stop pin drives worm gear 7 to be connected with stop pin and rotor school position driving worm screw 8, and stop pin and rotor the school position drives worm screw 8
It is provided with third trip limit sensors 11；
The other end of the cantilever 1 is provided with power transmission shaft 15 and rotor 30, and the power transmission shaft 15 connects with rotor school position worm gear 10
Connect, the power transmission shaft 15 is flexibly connected with the end of rotor school position worm gear 10 by folding reference axis 13, rotor school position worm gear
10 shaft end is power transmission shaft drive end 16；
The end of the rotor 30 is provided with rotor driving worm gear 33, and the rotor driving worm gear 33 is with being arranged on rotor driving
Rotor driving worm screw 32 on motor 34 engages to be transmitted into action edge；As shown in Figures 18 and 19, in the present embodiment, the rotor 30
Axis of rotation for worm gear axle center and to the direction of fuselage cantilever 1 fold.The cantilever foldable base 14 is arranged on the end of rotor shaft 41
Portion, in the rotor shaft 41 according to from top to bottom be sequentially with rotor shaft flange 40, displacement seat 37, connecting rod base 39 and spheroid
38；
Described control unit and relay respectively with the first row degree level sensor 17, the second stroke limit sensor 12,
Third trip limit sensors 11, fourth line degree level sensor 9 and folding driving endless screw electric motor, stop pin and rotor school position are driven
Dynamic endless screw electric motor, rotor fold motor and realize that electrical connection carries out signal transmission, the rotor 30 and rotor driving worm gear 33
Link position be provided with to its internal contraction arc.Wherein, the either end of the stop pin 2 is the end of thread 21, the screw thread
End 21 is connected with the worm gear connection end 22 of rectangular configuration.
A kind of multirotor helicopter folding system provided by the utility model, operation principle are as follows：The utility model passes through
The folding electric signal that control unit provides, which starts the rotor that stop pin and rotor school position motor driving stop pin 2 exit, to be fixed
, the end of thread 21 is provided with the stop pin 2, the end of thread 21 is automatically stopped reciprocal fortune at the row of stop pin 2 to last position
Dynamic, the position signalling of stop pin 2 is sent to relay by the second stroke limit sensor 12, and relay group provides electric signal and starts the 3rd
Stroke limit sensor 11, while stop pin and rotor school position motor 8 work on and drive rotor school position worm gear 10 to make spiral shell
Oar and oar folder row are revolved extremely with the upright position of cantilever 1, now fold reference axis 13 and the folding in spiral arm seat on foldable assembly 31
For reference axis 13 with one heart or close to one heart, third trip limit sensors 11 pass the positional information of rotor school position worm gear 10 detected
To relay, relay folds driving endless screw electric motor by this signal enabling and rotor motor 34 realizes that spiral arm and rotor are rolled over
Folded, when cantilever 1 and rotor are folded to target location, the first row degree level sensor 17 and fourth line degree level sensor 9 will
Fold the rotary position information of worm gear 3 and be transmitted to relay group or single-chip microcomputer, relay group is powered by this signal-off.Displacement seat 37
And the power supply electric contact of rotor motor 34 and fourth line degree level sensor 9 is designed with connecting rod base 39, in connecting rod base 39
Power supply contact is designed as one group and is distributed in A or B directions, and power supply contact is designed as two groups and is distributed in A, B direction in displacement seat 37；Rotation
Wingfold motor 34 is by taking brush motor as an example：The power contact in A, B direction being distributed in displacement seat 37 is designed as with connecting
Electrode when power supply contact contacts in pole socket 39 is on the contrary, to ensure no matter rotor group A directions or B directions face rotor 30, to revolve
Wingfold direction is the direction of rotor 30.While control unit provides electric signal startup stop pin and rotor school position motor
Displacement seat 37 will be pushed into and is contacted with rotor shaft flange 40 by providing electric signal control steering wheel on connecting rod base 39, make displacement seat 37 and connecting rod
Power contact in seat 39 is in accessible position, when folding in reference axis 13 and spiral arm foldable base 14 on foldable assembly 31
Fold reference axis 13 with one heart or close to it is concentric when, 37 1 groups of power contacts of displacement seat contact with the power supply contact on displacement seat 37；
Startup rotor folding motor driving rotor 30 when driving endless screw electric motor starts is folded to fold.The rotor school position worm gear 10 of stop pin 2
It is designed with the rigging position of stop pin 2 and is designed as with 2 corresponding hole of stop pin, rotor school position worm gear 10 not with stop pin 2 axially
Motion, only rotary motion；
Spring 6 is designed between stop pin 2 and rotor school position worm gear 10, stop pin 2 is designed to pass through transmission component and fixed
Seat 5, the correspondence position of transmission component fixed seat 5 is designed with and 21 corresponding screw thread of the end of thread on stop pin 2, rotor school position worm gear 10
There is unilateral bearing with the position design of foldable assembly 31, transmission is not driven when stop pin and the reversion of rotor school position motor
Axle foldable assembly 35；
Power transmission shaft foldable assembly 35, using identical or equally can reach the design of same effect and be accordingly to be regarded as this patent category.
The design and installation of power transmission shaft foldable assembly 35 for can with it is concentric in spiral arm foldable base 14.When control unit deploys electric signal, by
Relay group, which starts to fold endless screw electric motor and reversely rotate, deploys spiral arm, and when rotor 30 is expanded to target location, relay passes through
The feedback signal of the first row degree level sensor 17 starts rotor and folds the reverse rotation expansion rotor 30 of motor 34, when rotor revolves
Turn relay group or single-chip microcomputer during target location and stop pin and rotor are started by the feedback signal of fourth line degree level sensor 9
School position motor 8 inverts, and the spring 6 between stop pin and rotor school position worm gear 7 makes stop pin 2 and transmission component fixed seat 5
Interior corresponding screw thread 6 engages, and drives the driving of worm gear 7 rotation to lock cantilever 1 by stop pin.In the present embodiment, preferable structure
For motor and rotor motor 34 for driving endless screw electric motor, stop pin 2 and rotor school position the driving worm screw of folding are
Bi-motor is connected in series, and one of which motor is as standby motor.
Embodiment 2
The present embodiment is improved on the basis of embodiment 1, and other structures are identical, and difference is：As shown in Fig. 2
Four rotor drivers described in the present embodiment include being arranged on round support in the folding device of 45 ° of settings.
Embodiment 3
The present embodiment is improved on the basis of embodiment 1, and other structures are identical, and difference is：As shown in figure 3,
Six rotor driver includes being arranged in the folding device of 60 ° of settings on round support, and rotor presents lower leaf setting.
The utility model preferred embodiment and embodiment are explained in detail above in conjunction with accompanying drawing, but this
Utility model is not limited to the above-described embodiment and examples, in those skilled in the art's possessed knowledge, may be used also
To make a variety of changes without departing from the concept of the premise utility.
Claims (9)
1. a kind of multirotor helicopter folding system, it is characterised in that the folding device includes controlled unit and controls and divide
The cantilever fixed seat (18) not being arranged on support, the cantilever fixed seat (18) mutually fasten with cantilever positioning seat (20) and formed
Interstitial hole in be provided with cantilever (1), the cantilever fixed seat (18) is provided with pin-and-hole (19) with cantilever positioning seat (20), described
One end of cantilever (1) is provided with cantilever foldable base (14), and the outside of the cantilever foldable base (14) is relative to be provided with two folding benchmark
Axle (13), the side for folding reference axis (13), which is provided with, folds worm gear (3), and the bottom for folding worm gear (3) is provided with first
Stroke limit sensor (17), described folding driving worm screw (4) engaged transmission for folding worm gear (3) and being set with its outside are described
Foldable assembly (31) is provided with cantilever foldable base (14), the foldable assembly (31) is connected with cantilever holder assembly (36), described outstanding
Arm seat component (36) is provided with power transmission shaft foldable assembly (35), and the power transmission shaft foldable assembly (35) provided with transmission component with fixing
Rotor school position worm gear (10) connection of seat (5)；
The stop pin (2) set on the transmission component fixed seat (5) drives worm gear (7) to be connected by spring (6) with stop pin,
The stop pin driving worm gear (7) is connected with stop pin and rotor school position driving worm screw (8), and stop pin and rotor the school position is driven
Dynamic worm screw (8) is provided with third trip limit sensors (11)；
The other end of the cantilever (1) is provided with power transmission shaft (15) and rotor (30), the power transmission shaft (15) and rotor school position worm gear
(10) connect, the power transmission shaft (15) is flexibly connected with rotor school position worm gear (10) end by folding reference axis (13), described
The shaft end of rotor school position worm gear (10) is power transmission shaft drive end (16)；
The end of the rotor (30) is provided with rotor driving worm gear (33), and the rotor driving worm gear (33) is with being arranged on rotor drive
Rotor driving worm screw (32) on dynamic motor (34) engages to be transmitted into action edge；
The cantilever foldable base (14) is arranged on the end of rotor shaft (41), suitable according to from top to bottom on the rotor shaft (41)
Sequence is provided with rotor shaft flange (40), displacement seat (37), connecting rod base (39) and spheroid (38)；
Described control unit and relay respectively with the first row degree level sensor (17), the second stroke limit sensor (12),
Third trip limit sensors (11), fourth line degree level sensor (9) and folding driving endless screw electric motor, stop pin and rotor school
Position driving endless screw electric motor, rotor fold motor and realize that electrical connection carries out signal transmission.
2. multirotor helicopter folding system according to claim 1, it is characterised in that the rotor (30) drives with rotor
The link position of worm gear (33) is provided with the arc to its internal contraction.
3. multirotor helicopter folding system according to claim 1, it is characterised in that the either end of the stop pin (2)
For the end of thread (21), the end of thread (21) is connected with the worm gear connection end (22) of rectangular configuration.
4. multirotor helicopter folding system according to claim 1, it is characterised in that the multirotor helicopter folds system
System includes controlled unit control and three rotors, four rotors or six rotor drivers that are arranged on support.
5. multirotor helicopter folding system according to claim 4, it is characterised in that three rotor driver includes setting
In the folding device of 120 ° of settings on the support of triangular form.
6. multirotor helicopter folding system according to claim 4, it is characterised in that four rotor driver includes setting
In the folding device of 45 ° of settings on round support.
7. multirotor helicopter folding system according to claim 4, it is characterised in that six rotor driver includes setting
In the folding device of 60 ° of settings on round support.
8. multirotor helicopter folding system according to claim 1, it is characterised in that the driving worm screw electricity for folding
Machine, the motor of stop pin (2) and rotor school position driving worm screw and rotor motor (34) they are that bi-motor is connected in series, wherein
One group of motor is as standby motor.
9. multirotor helicopter folding system according to claim 1, it is characterised in that the axis of rotation of the rotor (30)
Folded for worm gear axle center and to fuselage cantilever (1) direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720596024.7U CN206856987U (en) | 2017-05-25 | 2017-05-25 | A kind of multirotor helicopter folding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720596024.7U CN206856987U (en) | 2017-05-25 | 2017-05-25 | A kind of multirotor helicopter folding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206856987U true CN206856987U (en) | 2018-01-09 |
Family
ID=60825073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720596024.7U Withdrawn - After Issue CN206856987U (en) | 2017-05-25 | 2017-05-25 | A kind of multirotor helicopter folding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206856987U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054637A (en) * | 2017-05-25 | 2017-08-18 | 桂艳春 | A kind of multirotor helicopter folding system |
| CN108860594A (en) * | 2018-06-21 | 2018-11-23 | 深圳市道通智能航空技术有限公司 | Fold propeller control method, device and equipment |
| CN112173098A (en) * | 2020-09-25 | 2021-01-05 | 中国直升机设计研究所 | Novel control system and method for electric folding and unfolding of rotor wing |
-
2017
- 2017-05-25 CN CN201720596024.7U patent/CN206856987U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054637A (en) * | 2017-05-25 | 2017-08-18 | 桂艳春 | A kind of multirotor helicopter folding system |
| CN107054637B (en) * | 2017-05-25 | 2023-08-15 | 桂艳春 | Folding system of multi-rotor helicopter |
| CN108860594A (en) * | 2018-06-21 | 2018-11-23 | 深圳市道通智能航空技术有限公司 | Fold propeller control method, device and equipment |
| CN108860594B (en) * | 2018-06-21 | 2019-09-10 | 深圳市道通智能航空技术有限公司 | Fold propeller control method, device and equipment |
| WO2019242197A1 (en) * | 2018-06-21 | 2019-12-26 | 深圳市道通智能航空技术有限公司 | Folding propeller control method and apparatus, and device |
| CN112173098A (en) * | 2020-09-25 | 2021-01-05 | 中国直升机设计研究所 | Novel control system and method for electric folding and unfolding of rotor wing |
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| GR01 | Patent grant | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180109 Effective date of abandoning: 20230815 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180109 Effective date of abandoning: 20230815 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |