CN109070992B - Unmanned aerial vehicle's frame subassembly and unmanned aerial vehicle - Google Patents

Abstract

An unmanned aerial vehicle and a frame assembly thereof are disclosed. The frame assembly of the unmanned aerial vehicle comprises a center frame, a first machine arm (10) and a second machine arm (20), wherein the first machine arm (10) is provided with a first matching part (11), and the second machine arm (20) is provided with a second matching part (21); the first and second arms (10, 20) rotate relative to the support (30), the support (30) remaining stationary relative to the steady rest; the locking piece (40) is rotatably arranged on the support piece (30); the driving device (50) is used for driving the locking piece (40) to rotate towards the first matching part (11) and the second matching part (21); when the first machine arm (10) rotates relative to the second machine arm (20) towards the increasing direction of the included angle to the unfolding state, the first matching part (11) and the second matching part (21) rotate to the preset locking position; after the first matching part (11) and the second matching part (21) are located at the preset locking position, the driving device (50) drives the locking piece (40) to rotate to the preset locking position and clamp the first matching part (11) and the second matching part (21) so as to prevent the first machine arm (10) and the second machine arm (20) from rotating towards the included angle reducing direction.

Description

Unmanned aerial vehicle's frame subassembly and unmanned aerial vehicle

Technical Field

The embodiment of the invention relates to the field of unmanned aerial vehicles, in particular to a rack assembly of an unmanned aerial vehicle and the unmanned aerial vehicle.

Background

Unmanned vehicles are often used in the fields of aerial photography, remote aerial monitoring, reconnaissance, and the like. The unmanned aerial vehicle generally comprises a center frame, a horn, a power assembly, a foot rest and equipment which needs to be carried during operation. The equipment for operation is generally arranged above or below the centre frame, and the foot rest is used for supporting the whole aircraft and avoiding the contact with the ground when the aircraft or the operation equipment is hung down. Because the unmanned vehicles with fixed horn structures have large volumes and are inconvenient to carry, the folding of the horns is a more universal mode.

Since the arms of the unmanned aerial vehicle should be at least locked during flying, the unmanned aerial vehicle with the foldable arms in the prior art can only lock a single arm at a time, and cannot lock two arms at a time, which results in low operation efficiency.

Disclosure of Invention

The embodiment of the invention provides a rack assembly of an unmanned aerial vehicle and the unmanned aerial vehicle, and aims to solve the problem that in the prior art, two arms cannot be locked at one time, so that the operation efficiency is low.

The embodiment of the invention provides a rack assembly of an unmanned aerial vehicle, which comprises a center frame, a first machine arm, a second machine arm and a locking mechanism, wherein the first machine arm and the second machine arm are rotatably connected with the center frame; the locking mechanism includes:

the first machine arm and the second machine arm can respectively rotate relative to the supporting piece, and the supporting piece is kept immovable relative to the center frame;

the locking piece is rotatably arranged on the supporting piece;

the driving device is arranged on the supporting piece and used for driving the locking piece to rotate towards the first matching part and the second matching part;

when the first machine arm rotates to the unfolding state relative to the second machine arm in the direction of increasing the included angle, the first matching part and the second matching part rotate to the preset locking position;

when first cooperation portion and second cooperation portion are behind the default locking position, drive arrangement drive the locking piece rotates extremely default locking position and blocks first cooperation portion and second cooperation portion, in order to prevent first horn and second horn rotate towards the direction that the contained angle reduces.

According to the frame assembly of the unmanned aerial vehicle, the first matching portion and the second matching portion are correspondingly arranged on the first arm and the second arm which are rotatably connected with the center frame respectively, the locking piece is rotatably arranged on the supporting piece, the first arm and the second arm can rotate relative to the supporting piece, the supporting piece is kept to be fixed relative to the center frame, when the first arm and the second arm rotate, the supporting piece can not rotate, when the first arm and the second arm rotate to the unfolding state, the first matching portion and the second matching portion are driven to rotate to the preset locking position, at the moment, the driving device drives the locking piece to rotate to clamp the first matching portion and the second matching portion, so that the first arm and the second arm are prevented from rotating towards the direction with the reduced included angle, and therefore the first arm and the second arm are locked simultaneously. Therefore, two machine arms are locked at a time, and the operation efficiency is improved.

An embodiment of the invention provides an unmanned aerial vehicle, which comprises a rack assembly and a power device arranged on the rack assembly, wherein the power device is used for providing flight power for the unmanned aerial vehicle;

wherein, the frame subassembly includes: the locking mechanism comprises a center frame, a first machine arm, a second machine arm and a locking mechanism, wherein the first machine arm and the second machine arm are rotatably connected with the center frame, the locking mechanism is used for synchronously locking the first machine arm and the second machine arm, a first matching part used for matching with the locking mechanism is arranged at one end, close to a rotation center, of the first machine arm, and a second matching part used for matching with the locking mechanism is arranged at one end, close to the rotation center, of the second machine arm; the locking mechanism includes:

the first machine arm and the second machine arm can respectively rotate relative to the supporting piece, and the supporting piece is kept immovable relative to the center frame;

the locking piece is rotatably arranged on the supporting piece;

the driving device is arranged on the supporting piece and used for driving the locking piece to rotate towards the first matching part and the second matching part;

when the first machine arm rotates to the unfolding state relative to the second machine arm in the direction of increasing the included angle, the first matching part and the second matching part rotate to the preset locking position;

when first cooperation portion and second cooperation portion are behind the default locking position, drive arrangement drive the locking piece rotates extremely default locking position and blocks first cooperation portion and second cooperation portion, in order to prevent first horn and second horn rotate towards the direction that the contained angle reduces.

According to the unmanned aerial vehicle provided by the embodiment of the invention, the first matching part and the second matching part are respectively and correspondingly arranged on the first arm and the second arm which are rotatably connected with the center frame, the locking part is rotatably arranged on the supporting part, the first arm and the second arm can rotate relative to the supporting part, the supporting part is kept still relative to the center frame, when the first arm and the second arm rotate, the supporting part can not rotate, when the first arm and the second arm rotate to the unfolding state, the first matching part and the second matching part are driven to rotate to the preset locking position, at the moment, the driving device drives the locking part to rotate to clamp the first matching part and the second matching part, so that the first arm and the second arm are prevented from rotating towards the direction of reducing the included angle, namely, the first arm and the second arm are simultaneously locked. Therefore, two machine arms are locked at a time, and the operation efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a schematic structural diagram of a rack assembly of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is an exploded view of an unmanned aerial vehicle airframe component according to an embodiment of the present invention;

fig. 3 is a first cross-sectional view of a frame assembly of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 4 is a second cross-sectional view of the unmanned aerial vehicle frame assembly provided in the embodiment of the present invention;

fig. 5 is a schematic structural diagram of the unmanned aerial vehicle provided in the embodiment of the present invention.

Reference numerals:

10-a first horn; 20-a second horn; 30-a support;

40-a locking element; 50-a drive device; 60-a reset elastic element;

11-a first mating portion; 21-a second mating portion; 31-an upper shell;

32-a lower shell; 33-left shell; 34-a right housing;

30 a-a first shaft; 30 b-a second shaft; 111-a first connection end;

112-a first free end; 211-a second connection end; 212-a second free end;

41-upper locking piece; 42-lower locking member; 41 s-upper locking piece rotating shaft;

42 s-lower locking piece rotating shaft; 40 a-a locking portion; 40 b-a force-receiving portion;

50 a-a force applying member; 50 b-a transmission member; e-an avoidance part;

e1-elastic means; e11-elastic element; E12-Friction element.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

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 this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Example one

Fig. 1 is a schematic structural diagram of a rack assembly of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is an exploded view of an unmanned aerial vehicle airframe component according to an embodiment of the present invention; fig. 3 is a first cross-sectional view of a frame assembly of an unmanned aerial vehicle according to an embodiment of the present invention; fig. 4 is a second cross-sectional view of the unmanned aerial vehicle frame assembly provided in the embodiment of the present invention.

Referring to fig. 1 to 4, the frame assembly of the unmanned aerial vehicle provided in this embodiment includes a center frame, a first arm 10 and a second arm 20 rotatably connected to the center frame, and a locking mechanism for synchronously locking the first arm 10 and the second arm 20, wherein a first engaging portion 11 for engaging with the locking mechanism is disposed at an end of the first arm 10 close to a rotation center, and a second engaging portion 21 for engaging with the locking mechanism is disposed at an end of the second arm 20 close to the rotation center. Wherein, locking mechanical system includes: support 30, locking member 40, drive means 50.

The "rotation center" in one end of the first arm 10 close to the rotation center refers to the rotation center of the first arm 10 relative to the center frame. The "rotation center" in the end of the second horn 20 near the rotation center refers to the rotation center of the second horn 20 relative to the center frame.

The first and second arms 10 and 20 are respectively able to rotate with respect to the support 30, the support 30 remaining stationary with respect to the steady rest. Specifically, the method at least comprises two embodiments:

the support member 30 may be rotatably coupled to the first arm 10 and the second arm 20 by a rotation shaft, and more particularly, the rotation shaft of the support member 30 may be coaxial with the rotation shafts of the first arm 10 and the second arm 20 and the center frame, so that the support member 30 may not be rotated when the first arm 10 and the second arm 20 rotate with respect to the center frame.

Specifically, for example, as shown in fig. 2, the supporting member 30 may include an upper shell 31, a lower shell 32, and a left shell 33 and a right shell 34 connected between the upper shell 31 and the lower shell 32, wherein two ends of the left shell 33 are connected to the upper shell 31 and the lower shell 32, respectively, and two ends of the right shell 34 are connected to the upper shell 31 and the lower shell 32, respectively. Preferably, the left housing 33 and the right housing 34 are detachably connected to the upper housing 31 and the lower housing 32 by a connecting member such as a bolt, so as to facilitate the assembly, disassembly and maintenance of each component, and of course, the components may be connected in a non-detachable manner, which is not limited in this embodiment. The first and second arms 10 and 20 may be positioned between the upper and lower cases 31 and 32. One end of the upper housing 31 and one end of the lower housing 32, and the first arm 10 and the center frame may be rotatably connected by a first rotating shaft 30 a. The other end of the upper case 31 and the other end of the lower case 32, and the second horn 20, the center frame may be rotatably connected by a second rotating shaft 30 b.

Alternatively, the supporting member 30 may be directly fixed to the center frame, for example, welded to the center frame, or fixedly connected to the center frame via a connecting member, or integrally formed with the center frame, and the supporting member 30 may not rotate when the first arm 10 and the second arm 20 rotate relative to the center frame.

The locking member 40 is rotatably provided on the support member 30. The locking member 40 may be rotatably connected to the support bracket 30 by a rotating shaft. Specifically, for example, as shown in fig. 2, the locking member 40 may be rotatably connected to the left housing 33 and/or the right housing 34 of the support member 30 by a locking member rotating shaft, and of course, it is preferable that both ends of the locking member rotating shaft of the locking member 40 may be connected to the left housing 33 and the right housing 34, respectively. Specifically, the two ends of the locking member rotating shaft can be fixedly connected with the left shell 33 and the right shell 34, and the locking member 40 can rotate on the locking rotating shaft.

The driving device 50 is disposed on the supporting member 30 for driving the locking member 40 to rotate toward the first and second fitting portions 11 and 21.

When the first arm 10 rotates to the extended state relative to the second arm 20 in the direction of increasing the included angle, the first engaging portion 11 and the second engaging portion 21 rotate to the preset locking position. After the first and second engagement portions 11 and 21 are at the preset locking position, the driving device 50 drives the locking member 40 to rotate to the preset locking position and block the first and second engagement portions 11 and 21, so as to prevent the first and second arms 10 and 20 from rotating in the direction of decreasing the included angle.

Specifically, the first arm 10 and the second arm 20 can rotate relatively to each other to a minimum preset included angle, for example, the first arm 10 and the second arm 20 rotate to be parallel to each other, that is, the included angle is zero. When the first arm 10 and the second arm 20 rotate relatively to each other to a minimum preset included angle, the first arm 10 and the second arm 20 may be in a folded state. The folded state is a state in which the first boom 10 and the second boom 20 are folded with respect to each other, and it should not be understood that the first boom 10 and the second boom 20 are each folded.

The first arm 10 and the second arm 20 can rotate relatively to each other to a maximum preset included angle, for example, the included angle between the first arm 10 and the second arm 20 is 180 degrees. When the first arm 10 and the second arm 20 rotate relatively to a maximum preset included angle, the first arm 10 and the second arm 20 are in an unfolded state. The unfolded state is a state in which the first arm 10 and the second arm 20 are away from each other, and it is not understood that the first arm 10 and the second arm 20 are respectively unfolded.

Of course, it is understood that the angle between the first boom 10 and the second boom 20 may be larger than zero when the first boom 10 and the second boom 20 are in the folded state, and the angle between the first boom 10 and the second boom 20 may be smaller than 180 degrees when the first boom 10 and the second boom 20 are in the unfolded state. The number and the arrangement position of the horn may be determined according to a preset deployment form, and the embodiment is not limited herein.

As shown in fig. 2, the first mating portion 11 may include a first connecting end 111 and a first free end 112, the first connecting end 111 is used for fixedly connecting with an end of the first arm 10 near the rotation center, for example, may be welded, integrally formed with or fixedly connected with the first arm 10; the first free end 112 is an end of the first matching portion 11 away from the first connection end 111. The second mating portion 21 may also include a second connecting end 211 and a second free end 212. The second connecting end 211 is used for being fixedly connected with one end of the second arm 20 close to the rotation center, for example, the second connecting end can be welded, integrally formed or fixedly connected with the second arm 20 by a connecting piece; the second free end 212 is an end of the second mating portion 21 away from the second connecting end 211.

Preferably, when the first arm 10 and the second arm 20 are relatively rotated to the unfolded state, the end of the free end (the first free end 112) of the first mating portion 11 may be in contact with the end of the free end (the second free end 212) of the second mating portion 21. In this way, the locking member 40 can more conveniently simultaneously lock the first engaging portion 11 and the second engaging portion 21 to hinder the first arm 10 and the second arm 20 from rotating in the direction of decreasing the included angle.

The unmanned aerial vehicle's that this embodiment provided frame subassembly, through correspond respectively on first horn and the second horn with center frame rotatable coupling and set up first cooperation portion and second cooperation portion, rotationally set up the locking piece on support piece, and first horn and second horn can rotate for support piece, support piece keeps motionless for the center frame, when first horn and second horn rotate, support piece can not rotate, when first horn and second horn rotate to the expansion state, drive first cooperation portion with second cooperation portion rotates to predetermineeing the latched position, at this moment, drive arrangement drive locking piece rotates to blocking first cooperation portion and second cooperation portion, rotate towards the direction that the contained angle reduces with hindering first horn and second horn, first horn and second horn have realized locking simultaneously promptly. Therefore, two machine arms are locked at a time, and the operation efficiency is improved.

Example two

The present embodiment is further defined based on the first embodiment, and the locking member 40 and the driving device 50 are further defined. Referring to fig. 2, in particular, the locking member 40 may include an upper locking member 41 and a lower locking member 42, the upper locking member 41 is used for locking the top portions of the first matching portion 11 and the second matching portion 21, and the lower locking member 42 is used for locking the bottom portions of the first matching portion 11 and the second matching portion 21. The upper locking member 41 and the lower locking member 42 may have the same or different structures as long as the top and bottom of the first engagement portion 11 and the second engagement portion 21 are locked. In this embodiment, the two locking members respectively lock the top and the bottom of the first matching portion 11 and the second matching portion 21, and compared with a mode that only one locking member is used for locking, the mode can further improve the firmness and stability after locking, so as to improve the locking effect of the first arm 10 and the second arm 20.

Preferably, the driving device 50 can be simultaneously engaged with the upper locking member 41 and the lower locking member 42 to simultaneously drive the upper locking member 41 and the lower locking member 42 to rotate relatively. Through a drive arrangement 50 drive upper locking member 41 and lower locking member 42 relative rotation simultaneously, can guarantee on the one hand that lock 41 and lower locking member 42 can the synchronization action, on the other hand can effectively save the cost to occupy less space as far as possible, be favorable to whole unmanned aerial vehicle device's volume miniaturization. Of course, if only the driving function is realized, the upper locking member 41 and the lower locking member 42 may be driven by their respective driving devices, and the present embodiment is not particularly limited.

The upper locking member 41 may be rotatably connected to the support member 30 via an upper locking member rotating shaft 41s, and the lower locking member 42 may be rotatably connected to the support member 30 via a lower locking member rotating shaft 42 s.

Further, the locking member 40 may include a locking portion 40a for catching the first and second fitting portions 11 and 21, and a force receiving portion 40b for receiving the force of the driving device 50. Specifically, for example, as shown in fig. 2, the locking portion 40a may be in a hook shape, the middle portion of the locking member 40 passes through a locking member rotating shaft to be connected to the supporting portion 30, and two sides of the locking member rotating shaft of the locking member 40 are the locking portion 40a and the force receiving portion 40b, respectively, where the locking portion 40a is located at a side close to the first matching portion 11 on the first arm 10 and the second matching portion 21 on the second arm 20.

The driving device 50 may include a force application member 50a and a transmission member 50b, wherein the force application member 50a is used for receiving an external force to drive the transmission member 50b to rotate or move linearly, and the transmission member 50b is used for cooperating with the force receiving portion 40b of the locking member 40 to drive the locking member 40 to rotate. Specifically, the force applying member 50a can drive the transmission member 50b to rotate, then the transmission member 50b transmits the rotation motion to the force receiving portion 40b of the locking member 40, and the force receiving portion 40b of the locking member 40 drives the locking portion 40a to rotate until the first matching portion 11 and the second matching portion 21 are clamped. Alternatively, the force applying component 50a may drive the transmission component 50b to move linearly, and in this case, the force receiving component 40b may have a structure for converting the linear motion into a rotational motion, for example, the transmission component 50b is a rack, and the force receiving component 40b has at least a gear portion engaged with the rack.

The transmission mode between the transmission member 50b and the force receiving portion 40b includes at least one of the following: cam drive, gear drive, direct drive.

As for the transmission manner between the transmission member 50b and the force-receiving portion 40b, in the present embodiment, preferably, the transmission manner may include cam transmission, as shown in fig. 2 to 4, the transmission member 50b may include a cam, the force-receiving portion 40b may be in abutting contact with an outer surface of the cam, and the cam rotates to push the force-receiving portion 40b in contact with the outer surface of the cam to rotate the locking member 40. Specifically, the force receiving portion 40b may have an abutting surface abutting against the cam, and the abutting surface may have a special shape capable of being engaged with the cam, and the locking member 40 may be driven by the cam to approach toward the first engaging portion 11 and the second engaging portion 21. In this way, the force applying element 50a can directly drive the cam to rotate, and there are many specific ways to drive the cam to rotate, for example, the cam can be rotated by pressing the pressing element along the rotation direction of the cam, for example, the force applying element 50a is a wrench fixedly connected with the cam as shown in fig. 2. Of course, in this embodiment, the force applying member 50a may be a rotating member, such as a knob, and the knob may be directly and coaxially connected to the cam, and the cam is directly driven to rotate by rotating the knob. There are many ways to implement the rotation of the cam, which are not examples.

Further, a relief portion E may be provided inside the first fitting portion 11 and/or inside the second fitting portion 21, and the relief portion E may be used to provide a rotation space for the cam. That is, the relief portion E is provided inside the first engaging portion 11 or inside the second engaging portion 21, or preferably, the relief portion E is provided inside both the first engaging portion 11 and the second engaging portion 21. Whether the avoidance portions E are simultaneously provided on the first engaging portion 11 and the second engaging portion 21 may be specifically set according to the positions of the cam relative to the first engaging portion 11 and the second engaging portion 21, and if the cam is rotated and is only in contact with the first engaging portion 11 or the second engaging portion 21, the avoidance portions E may be provided only on the first engaging portion 11 or the second engaging portion 21; if the cam contacts both the first matching portion 11 and the second matching portion 21 when rotating, the relief portions E may be disposed on both the first matching portion 11 and the second matching portion 21, which is not limited in this embodiment. In the case that the first mating portion 11 and the second mating portion 21 are both provided with the relief portions, the relief portions on the first mating portion 11 and the second mating portion 21 may form a large relief portion when the end portion of the first free end 112 of the first mating portion 11 contacts the end portion of the second free end 212 of the second mating portion 21. The situation that the cam is locked and cannot rotate due to the blocking of the first matching part 11 and the second matching part 21 can be avoided through the arrangement of the avoiding part E.

On the basis of the above embodiment, furthermore, an elastic device E1 may be further disposed in the avoiding portion E, the elastic device E1 is used for abutting contact with the cam to provide a preset elastic resistance, and when the external force applied to the cam overcomes the preset elastic resistance, the cam can rotate. After the cam rotates to a certain angle, the locking member 40 blocks the first engaging portion 11 and the second engaging portion 21, and when the cam continues to rotate, the cam can be pressed tightly under the elastic pressing of the elastic device E1, so that the cam can be maintained at the current position, and further the first engaging portion 11 and the second engaging portion 21 can be maintained at the position blocked by the locking member 40, so that the first arm 10 and the second arm 20 are stably locked, and the locking gap can be eliminated.

The elastic device E1 includes an elastic element E11 and a friction element E12, the elastic element E11 is fixed in the escape part E, the friction element is arranged on the top of the elastic element, and the friction element is used for abutting contact with the cam. Specifically, the elastic element E11 may include at least one of: metal shrapnel, rubber pad, axial spring. The friction element E12 may preferably be a brass plate. The friction element E12 can improve the friction resistance between the cam and the elastic device E1, avoid the phenomenon of slipping when the cam is abutted by the elastic device E1, and further improve the reliability of the device.

As for the transmission mode between the transmission member 50b and the force-receiving portion 40b, as an optional mode, the transmission mode may include gear transmission, the transmission member 50b may include a gear, the force-receiving portion 40b is in a tooth shape, the force-receiving portion 40b in the tooth shape is engaged with the gear, and the force-applying member 50a drives the gear to rotate, so that the gear drives the locking member 40 to rotate; alternatively, the transmission member 50b includes a rack, the locking member 40 includes a tooth portion engaged with the rack, and the force application member 50a drives the rack to move linearly, so that the rack drives the locking member 40 to rotate. The present embodiment is geared.

As another optional mode for the transmission mode between the transmission member 50b and the force-receiving portion 40b, specifically, the transmission mode may include direct transmission, two ends of the transmission member 50b are respectively and fixedly connected to the force-applying member 50a and the force-receiving portion 40b of the locking member 40, and the force-applying member 50a rotates under the action of external force and directly drives the locking member 40 to rotate through the transmission member 50 b. Specifically, the transmission member 50b, the force applying member 50a and the force receiving portion 40b of the locking member 40 may be fixedly connected by a connecting member, may be integrally formed, or may be fixedly connected by welding or the like. In the present embodiment, the power applied by the biasing member 50a is directly transmitted to the locking member 40, and the biasing member 50a moves in the same manner as the locking member 40, thereby also realizing the rotational driving of the locking member 40.

No matter what way of cam transmission, gear transmission and direct transmission is adopted between the transmission piece 50b and the force receiving part 40b, the force applying piece 50a can select at least one of the following forms of force applying pieces 50a according to specific situations: the pressing piece, the rotating piece and the pushing and pulling piece.

Of course, the locking member 40 may also be directly electrically controlled to be driven, and specifically, the driving device 50 may include a motor, an output shaft of the motor is fixedly connected to the locking member, the motor is further electrically connected to a control device, the control device is configured to receive a trigger signal from a user, so as to control the motor to perform a rotation action according to the trigger signal, and the motor rotates to drive the locking member to rotate. The degree of automation can be increased by driving the locking member 40 to rotate in an electrically controlled manner, but at a somewhat higher cost.

EXAMPLE III

The present embodiment is further limited to the first or second embodiment, and specifically, as shown in fig. 2, the locking member 40 is rotatably connected to the supporting member 30 through a locking member rotating shaft, and a return elastic member 60 may be disposed between the locking member 40 and the locking member rotating shaft, and the return elastic member 60 is used for maintaining the locking member 40 in an initial state away from the first matching portion 11 and the second matching portion 21 in a natural state.

In the process that the driving device 50 drives the locking piece 40 to rotate to the preset locking position, the reset elastic piece 60 deforms; when the force applied by the driving device 50 is reduced or eliminated, the elastic restoring element 60 is deformed to bring the locking element 40 to the original state. In the present embodiment, it is preferable that the return elastic member 60 is a torsion spring.

The provision of the return elastic member 60 may enable the locking member 40 to be restored to the initial state by the return elastic member 60 during the movement of the locking member 40 in the direction away from the first and second fitting portions 11 and 21 driven by the driving means 50, and the return elastic member 60 may maintain the locking member 40 in the initial state before the locking member 40 is driven by the driving means 40 due to its own elastic force.

Example four

The embodiment provides an unmanned aerial vehicle, and fig. 5 is a schematic structural diagram of the unmanned aerial vehicle provided by the embodiment of the invention. As shown in fig. 1 to 5, the unmanned aerial vehicle provided in this embodiment includes a frame assembly and a power device disposed on the frame assembly, where the power device is configured to provide flight power to the unmanned aerial vehicle;

wherein, the frame subassembly includes: the locking mechanism comprises a center frame 100, a first machine arm 10 and a second machine arm 20 which are rotatably connected with the center frame 100, and a locking mechanism used for synchronously locking the first machine arm 10 and the second machine arm 20, wherein a first matching part 11 used for being matched with the locking mechanism is arranged at one end, close to a rotation center, of the first machine arm 10, and a second matching part 21 used for being matched with the locking mechanism is arranged at one end, close to the rotation center, of the second machine arm 20. Wherein, locking mechanical system includes: support 30, locking member 40, drive means 50.

The "rotation center" in one end of the first arm 10 close to the rotation center refers to the rotation center of the first arm 10 relative to the center frame. The "rotation center" in the end of the second horn 20 near the rotation center refers to the rotation center of the second horn 20 relative to the center frame.

The first and second arms 10 and 20 are respectively able to rotate with respect to the support 30, the support 30 remaining stationary with respect to the steady rest. Specifically, the method at least comprises two embodiments:

the support member 30 may be rotatably coupled to the first arm 10 and the second arm 20 by a rotation shaft, and more particularly, the rotation shaft of the support member 30 may be coaxial with the rotation shafts of the first arm 10 and the second arm 20 and the center frame, so that the support member 30 may not be rotated when the first arm 10 and the second arm 20 rotate with respect to the center frame.

Specifically, for example, as shown in fig. 2, the supporting member 30 may include an upper shell 31, a lower shell 32, and a left shell 33 and a right shell 34 connected between the upper shell 31 and the lower shell 32, wherein two ends of the left shell 33 are connected to the upper shell 31 and the lower shell 32, respectively, and two ends of the right shell 34 are connected to the upper shell 31 and the lower shell 32, respectively. Preferably, the left housing 33 and the right housing 34 are detachably connected to the upper housing 31 and the lower housing 32 by a connecting member such as a bolt, so as to facilitate the assembly, disassembly and maintenance of each component, and of course, the components may be connected in a non-detachable manner, which is not limited in this embodiment. The first and second arms 10 and 20 may be positioned between the upper and lower cases 31 and 32. One end of the upper case 31 and one end of the lower case 32, and the first horn 10 may be rotatably coupled by a first rotating shaft 30 a. The other end of the upper case 31 and the other end of the lower case 32, and the second horn 20 may be rotatably coupled by a second rotating shaft 30 b.

Alternatively, the supporting member 30 may be directly fixed to the center frame, for example, welded to the center frame, or fixedly connected to the center frame via a connecting member, or integrally formed with the center frame, and the supporting member 30 may not rotate when the first arm 10 and the second arm 20 rotate relative to the center frame.

The locking member 40 is rotatably provided on the support member 30. The locking member 40 may be rotatably connected to the support bracket 30 by a rotating shaft. Specifically, for example, as shown in fig. 2, the locking member 40 may be rotatably connected to the left housing 33 and/or the right housing 34 of the support member 30 by a locking member rotating shaft, and of course, it is preferable that both ends of the locking member rotating shaft of the locking member 40 may be connected to the left housing 33 and the right housing 34, respectively. Specifically, the two ends of the locking member rotating shaft can be fixedly connected with the left shell 33 and the right shell 34, and the locking member 40 can rotate on the locking rotating shaft.

The driving device 50 is disposed on the supporting member 30 for driving the locking member 40 to rotate toward the first and second fitting portions 11 and 21.

When the first arm 10 rotates to the extended state relative to the second arm 20 in the direction of increasing the included angle, the first engaging portion 11 and the second engaging portion 21 rotate to the preset locking position. After the first and second engagement portions 11 and 21 are at the preset locking position, the driving device 50 drives the locking member 40 to rotate to the preset locking position and block the first and second engagement portions 11 and 21, so as to prevent the first and second arms 10 and 20 from rotating in the direction of decreasing the included angle.

Specifically, the first arm 10 and the second arm 20 can rotate relatively to each other to a minimum preset included angle, for example, the first arm 10 and the second arm 20 rotate to be parallel to each other, that is, the included angle is zero. When the first arm 10 and the second arm 20 rotate relatively to each other to a minimum preset included angle, the first arm 10 and the second arm 20 may be in a folded state. The folded state is a state in which the first boom 10 and the second boom 20 are folded with respect to each other, and it should not be understood that the first boom 10 and the second boom 20 are each folded.

The first arm 10 and the second arm 20 can rotate relatively to each other to a maximum preset included angle, for example, the included angle between the first arm 10 and the second arm 20 is 180 degrees. When the first arm 10 and the second arm 20 rotate relatively to a maximum preset included angle, the first arm 10 and the second arm 20 are in an unfolded state. The unfolded state is a state in which the first arm 10 and the second arm 20 are away from each other, and it is not understood that the first arm 10 and the second arm 20 are respectively unfolded.

Of course, it is understood that the angle between the first boom 10 and the second boom 20 may be larger than zero when the first boom 10 and the second boom 20 are in the folded state, and the angle between the first boom 10 and the second boom 20 may be smaller than 180 degrees when the first boom 10 and the second boom 20 are in the unfolded state. The number and the arrangement position of the horn may be determined according to a preset deployment form, and the embodiment is not limited herein.

As shown in fig. 2, the first mating portion 11 may include a first connecting end 111 and a first free end 112, the first connecting end 111 is used for fixedly connecting with an end of the first arm 10 near the rotation center, for example, may be welded, integrally formed with or fixedly connected with the first arm 10; the first free end 112 is an end of the first matching portion 11 away from the first connection end 111. The second mating portion 21 may also include a second connecting end 211 and a second free end 212. The second connecting end 211 is used for being fixedly connected with one end of the second arm 20 close to the rotation center, for example, the second connecting end can be welded, integrally formed or fixedly connected with the second arm 20 by a connecting piece; the second free end 212 is an end of the second mating portion 21 away from the second connecting end 211.

Preferably, when the first arm 10 and the second arm 20 are relatively rotated to the unfolded state, the end of the free end (the first free end 112) of the first mating portion 11 may be in contact with the end of the free end (the second free end 212) of the second mating portion 21. In this way, the locking member 40 can more conveniently simultaneously lock the first engaging portion 11 and the second engaging portion 21 to hinder the first arm 10 and the second arm 20 from rotating in the direction of decreasing the included angle.

The unmanned aerial vehicle that this embodiment provided, through correspond respectively on first horn and the second horn with centre frame rotatable coupling and set up first cooperation portion and second cooperation portion, rotationally set up the locking piece on support piece, support piece keeps motionless for the centre frame, and first horn and second horn can rotate for support piece, when first horn and second horn rotate, support piece can not rotate, when first horn and second horn rotate to the expansion state, drive first cooperation portion with second cooperation portion rotates to predetermineeing the latched position, at this moment, drive arrangement drive locking piece rotates to blocking first cooperation portion and second cooperation portion to hinder first horn and second horn to the direction rotation that the contained angle reduces, realized locking first horn and second horn simultaneously promptly. Therefore, two machine arms are locked at a time, and the operation efficiency is improved.

EXAMPLE five

The present embodiment is further defined based on the fourth embodiment, and the locking member 40 and the driving device 50 are further defined. Referring to fig. 2, in particular, the locking member 40 may include an upper locking member 41 and a lower locking member 42, the upper locking member 41 is used for locking the top portions of the first matching portion 11 and the second matching portion 21, and the lower locking member 42 is used for locking the bottom portions of the first matching portion 11 and the second matching portion 21. The upper locking member 41 and the lower locking member 42 may have the same or different structures as long as the top and bottom of the first engagement portion 11 and the second engagement portion 21 are locked. In this embodiment, the two locking members respectively lock the top and the bottom of the first matching portion 11 and the second matching portion 21, and compared with a mode that only one locking member is used for locking, the mode can further improve the firmness and stability after locking, so as to improve the locking effect of the first arm 10 and the second arm 20.

Preferably, the driving device 50 can be simultaneously engaged with the upper locking member 41 and the lower locking member 42 to simultaneously drive the upper locking member 41 and the lower locking member 42 to rotate relatively. Through a drive arrangement 50 drive upper locking member 41 and lower locking member 42 relative rotation simultaneously, can guarantee on the one hand that lock 41 and lower locking member 42 can the synchronization action, on the other hand can effectively save the cost to occupy less space as far as possible, be favorable to whole unmanned aerial vehicle device's volume miniaturization. Of course, if only the driving function is realized, the upper locking member 41 and the lower locking member 42 may be driven by their respective driving devices, and the present embodiment is not particularly limited.

The upper locking member 41 may be rotatably connected to the support member 30 via an upper locking member rotating shaft 41s, and the lower locking member 42 may be rotatably connected to the support member 30 via a lower locking member rotating shaft 42 s.

Further, the locking member 40 may include a locking portion 40a for catching the first and second fitting portions 11 and 21, and a force receiving portion 40b for receiving the force of the driving device 50. Specifically, for example, as shown in fig. 2, the locking portion 40a may be in a hook shape, the middle portion of the locking member 40 passes through a locking member rotating shaft to be connected to the supporting portion 30, and two sides of the locking member rotating shaft of the locking member 40 are the locking portion 40a and the force receiving portion 40b, respectively, where the locking portion 40a is located at a side close to the first matching portion 11 on the first arm 10 and the second matching portion 21 on the second arm 20.

The driving device 50 may include a force application member 50a and a transmission member 50b, wherein the force application member 50a is used for receiving an external force to drive the transmission member 50b to rotate or move linearly, and the transmission member 50b is used for cooperating with the force receiving portion 40b of the locking member 40 to drive the locking member 40 to rotate. Specifically, the force applying member 50a can drive the transmission member 50b to rotate, then the transmission member 50b transmits the rotation motion to the force receiving portion 40b of the locking member 40, and the force receiving portion 40b of the locking member 40 drives the locking portion 40a to rotate until the first matching portion 11 and the second matching portion 21 are clamped. Alternatively, the force applying component 50a may drive the transmission component 50b to move linearly, and in this case, the force receiving component 40b may have a structure for converting the linear motion into a rotational motion, for example, the transmission component 50b is a rack, and the force receiving component 40b has at least a gear portion engaged with the rack.

The transmission mode between the transmission member 50b and the force receiving portion 40b includes at least one of the following: cam drive, gear drive, direct drive.

As for the transmission manner between the transmission member 50b and the force-receiving portion 40b, in the present embodiment, preferably, the transmission manner may include cam transmission, as shown in fig. 2 to 4, the transmission member 50b may include a cam, the force-receiving portion 40b may be in abutting contact with an outer surface of the cam, and the cam rotates to push the force-receiving portion 40b in contact with the outer surface of the cam to rotate the locking member 40. Specifically, the force receiving portion 40b may have an abutting surface abutting against the cam, and the abutting surface may have a special shape capable of being engaged with the cam, and the locking member 40 may be driven by the cam to approach toward the first engaging portion 11 and the second engaging portion 21. In this way, the force applying element 50a can directly drive the cam to rotate, and there are many specific ways to drive the cam to rotate, for example, the cam can be rotated by pressing the pressing element along the rotation direction of the cam, for example, the force applying element 50a is a wrench fixedly connected with the cam as shown in fig. 2. Of course, in this embodiment, the force applying member 50a may be a rotating member, such as a knob, and the knob may be directly and coaxially connected to the cam, and the cam is directly driven to rotate by rotating the knob. There are many ways to implement the rotation of the cam, which are not examples.

Further, a relief portion E may be provided inside the first fitting portion 11 and/or inside the second fitting portion 21, and the relief portion E may be used to provide a rotation space for the cam. That is, the relief portion E is provided inside the first engaging portion 11 or inside the second engaging portion 21, or preferably, the relief portion E is provided inside both the first engaging portion 11 and the second engaging portion 21. Whether the avoidance portions E are simultaneously provided on the first engaging portion 11 and the second engaging portion 21 may be specifically set according to the positions of the cam relative to the first engaging portion 11 and the second engaging portion 21, and if the cam is rotated and is only in contact with the first engaging portion 11 or the second engaging portion 21, the avoidance portions E may be provided only on the first engaging portion 11 or the second engaging portion 21; if the cam contacts both the first matching portion 11 and the second matching portion 21 when rotating, the relief portions E may be disposed on both the first matching portion 11 and the second matching portion 21, which is not limited in this embodiment. In the case that the first mating portion 11 and the second mating portion 21 are both provided with the relief portions, the relief portions on the first mating portion 11 and the second mating portion 21 may form a large relief portion when the end portion of the first free end 112 of the first mating portion 11 contacts the end portion of the second free end 212 of the second mating portion 21. The situation that the cam is locked and cannot rotate due to the blocking of the first matching part 11 and the second matching part 21 can be avoided through the arrangement of the avoiding part E.

On the basis of the above embodiment, furthermore, an elastic device E1 may be further disposed in the avoiding portion E, the elastic device E1 is used for abutting contact with the cam to provide a preset elastic resistance, and when the external force applied to the cam overcomes the preset elastic resistance, the cam can rotate. After the cam rotates to a certain angle, the locking member 40 blocks the first engaging portion 11 and the second engaging portion 21, and when the cam continues to rotate, the cam can be pressed tightly under the elastic pressing of the elastic device E1, so that the cam can be maintained at the current position, and further the first engaging portion 11 and the second engaging portion 21 can be maintained at the position blocked by the locking member 40, so that the first arm 10 and the second arm 20 are stably locked, and the locking gap can be eliminated.

The elastic device E1 includes an elastic element E11 and a friction element E12, the elastic element E11 is fixed in the escape part E, the friction element is arranged on the top of the elastic element, and the friction element is used for abutting contact with the cam. Specifically, the elastic element E11 may include at least one of: metal shrapnel, rubber pad, axial spring. The friction element E12 may preferably be a brass plate. The friction element E12 can improve the friction resistance between the cam and the elastic device E1, avoid the phenomenon of slipping when the cam is abutted by the elastic device E1, and further improve the reliability of the device.

As for the transmission mode between the transmission member 50b and the force-receiving portion 40b, as an optional mode, the transmission mode may include gear transmission, the transmission member 50b may include a gear, the force-receiving portion 40b is in a tooth shape, the force-receiving portion 40b in the tooth shape is engaged with the gear, and the force-applying member 50a drives the gear to rotate, so that the gear drives the locking member 40 to rotate; alternatively, the transmission member 50b includes a rack, the locking member 40 includes a tooth portion engaged with the rack, and the force application member 50a drives the rack to move linearly, so that the rack drives the locking member 40 to rotate. The present embodiment is geared.

As another optional mode for the transmission mode between the transmission member 50b and the force-receiving portion 40b, specifically, the transmission mode may include direct transmission, two ends of the transmission member 50b are respectively and fixedly connected to the force-applying member 50a and the force-receiving portion 40b of the locking member 40, and the force-applying member 50a rotates under the action of external force and directly drives the locking member 40 to rotate through the transmission member 50 b. Specifically, the transmission member 50b, the force applying member 50a and the force receiving portion 40b of the locking member 40 may be fixedly connected by a connecting member, may be integrally formed, or may be fixedly connected by welding or the like. In the present embodiment, the power applied by the biasing member 50a is directly transmitted to the locking member 40, and the biasing member 50a moves in the same manner as the locking member 40, thereby also realizing the rotational driving of the locking member 40.

No matter what way of cam transmission, gear transmission and direct transmission is adopted between the transmission piece 50b and the force receiving part 40b, the force applying piece 50a can select at least one of the following forms of force applying pieces 50a according to specific situations: the pressing piece, the rotating piece and the pushing and pulling piece.

Of course, the locking member 40 may also be directly electrically controlled to be driven, and specifically, the driving device 50 may include a motor, an output shaft of the motor is fixedly connected to the locking member, the motor is further electrically connected to a control device, the control device is configured to receive a trigger signal from a user, so as to control the motor to perform a rotation action according to the trigger signal, and the motor rotates to drive the locking member to rotate. The degree of automation can be increased by driving the locking member 40 to rotate in an electrically controlled manner, but at a somewhat higher cost.

EXAMPLE six

The present embodiment is further limited to the fourth or fifth embodiment, and specifically, as shown in fig. 2, the locking member 40 is rotatably connected to the supporting member 30 through a locking member rotating shaft, and a return elastic member 60 may be disposed between the locking member 40 and the locking member rotating shaft, and the return elastic member 60 is used for maintaining the locking member 40 in an initial state away from the first matching portion 11 and the second matching portion 21 in a natural state.

In the process that the driving device 50 drives the locking piece 40 to rotate to the preset locking position, the reset elastic piece 60 deforms; when the force applied by the driving device 50 is reduced or eliminated, the elastic restoring element 60 is deformed to bring the locking element 40 to the original state. In the present embodiment, it is preferable that the return elastic member 60 is a torsion spring.

The provision of the return elastic member 60 may enable the locking member 40 to be restored to the initial state by the return elastic member 60 during the movement of the locking member 40 in the direction away from the first and second fitting portions 11 and 21 driven by the driving means 50, and the return elastic member 60 may maintain the locking member 40 in the initial state before the locking member 40 is driven by the driving means 40 due to its own elastic force.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the context of the present invention, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (42)

1. The frame assembly of the unmanned aerial vehicle is characterized by comprising a center frame, a first machine arm, a second machine arm and a locking mechanism, wherein the first machine arm and the second machine arm are rotatably connected with the center frame; the locking mechanism includes:

the first machine arm and the second machine arm can respectively rotate relative to the supporting piece, and the supporting piece is kept immovable relative to the center frame;

the locking piece is rotatably arranged on the supporting piece;

the driving device is arranged on the supporting piece and used for driving the locking piece to rotate towards the first matching part and the second matching part;

when the first machine arm rotates to the unfolding state relative to the second machine arm in the direction of increasing the included angle, the first matching part and the second matching part rotate to the preset locking position;

when first cooperation portion and second cooperation portion are behind the default locking position, drive arrangement drive the locking piece rotates extremely default locking position and blocks first cooperation portion and second cooperation portion, in order to prevent first horn and second horn rotate towards the direction that the contained angle reduces.

2. The airframe assembly of claim 1,

when the first machine arm and the second machine arm rotate relatively to the minimum preset included angle, the first machine arm and the second machine arm are in a folded state;

when the first machine arm and the second machine arm rotate relatively to the maximum preset included angle, the first machine arm and the second machine arm are in the unfolding state.

3. The airframe assembly as defined in claim 1, wherein a free end of the first mating portion contacts a free end of the second mating portion when the first and second arms are relatively rotated to the deployed state.

4. The airframe assembly as defined in claim 1, wherein the support member is rotatably connected to the first and second arms by a shaft; and/or the supporting piece is fixedly arranged on the center frame.

5. The airframe assembly as defined in claim 1, wherein the locking member includes an upper locking member for locking a top of the first and second mating portions and a lower locking member for locking a bottom of the first and second mating portions.

6. The airframe assembly as defined in claim 5, wherein the drive means simultaneously engages an upper lock and a lower lock to simultaneously drive the upper lock and the lower lock for relative rotation.

7. The airframe assembly as defined in claim 1, wherein the locking member includes a locking portion for locking the first and second engagement portions, and a force receiving portion for receiving a force of the driving device.

8. The unmanned aerial vehicle's frame subassembly of claim 7, wherein drive arrangement includes application of force spare and driving medium, application of force spare is used for receiving external force in order to drive the driving medium rotation or linear motion, the driving medium is used for cooperating with the atress portion of locking piece, in order to drive the locking piece rotates.

9. The unmanned aerial vehicle's frame subassembly of claim 8, wherein the mode of transmission between the driving medium and the atress portion includes at least one of: cam drive, gear drive, direct drive.

10. The airframe assembly as defined in claim 9, wherein when the transmission means includes cam transmission, the transmission member includes a cam, the force receiving portion is in abutting contact with an outer surface of the cam, and the cam rotates to push the force receiving portion in contact with the outer surface of the cam to rotate the locking member.

11. The airframe assembly as recited in claim 10, wherein said cam is rotatably mounted to said support member by a shaft.

12. The airframe component as claimed in claim 10, wherein an escape portion is provided at an inner side of the first fitting portion and/or an inner side of the second fitting portion, and the escape portion is used for providing a rotation space for the cam.

13. The unmanned aerial vehicle's of claim 12, wherein there is a resilient means in the dodge portion, the resilient means is used for contacting with the cam in an abutting manner to provide a predetermined resilient resistance, and when the cam is subjected to an external force to overcome the predetermined resilient resistance, the cam can rotate.

14. The airframe assembly as defined in claim 13, wherein the resilient means includes a resilient member fixed to the escape portion and a friction member disposed on a top portion of the resilient member, the friction member being adapted to be in abutting contact with the cam.

15. The airframe assembly as defined in claim 14, wherein the resilient member comprises at least one of: metal shrapnel, rubber pad, axial spring.

16. The unmanned aerial vehicle's frame subassembly of claim 9, wherein when the transmission mode includes gear transmission, the transmission part includes a gear, the force-receiving part is in a shape of a tooth, the force-receiving part in the shape of a tooth is engaged with the gear, and the force-applying part drives the gear to rotate, so that the gear drives the locking piece to rotate;

or, the driving medium includes the rack, the locking piece include with the profile of tooth portion of rack toothing, application of force spare drives rack linear motion, so that the rack drives the locking piece rotates.

17. The unmanned aerial vehicle's of claim 9 frame subassembly, when the transmission mode includes direct drive, the both ends of driving medium respectively with application of force spare with the atress portion fixed connection of locking piece, application of force spare rotates under the exogenic action to directly drive the locking piece through the driving medium and rotate.

18. The airframe assembly as recited in claim 8, wherein said force applying member comprises at least one of: the pressing piece, the rotating piece and the pushing and pulling piece.

19. The unmanned aerial vehicle's frame subassembly of claim 1, wherein drive arrangement includes the motor, the output shaft of motor with locking piece fixed connection, the motor still is connected with controlling means electricity, controlling means is used for receiving user's trigger signal to according to trigger signal control the motor carries out the rotation action, the motor rotates and drives the locking piece rotates.

20. The unmanned aerial vehicle frame assembly of claim 1, wherein the locking member is rotatably connected to the support member through a rotating shaft, and a return elastic member is disposed between the locking member and the rotating shaft, and is configured to maintain the locking member in an initial state away from the first engagement portion and the second engagement portion in a natural state;

in the process that the driving device drives the locking piece to rotate to the preset locking position, the reset elastic piece deforms; when the acting force applied by the driving device is reduced or disappears, the reset elastic piece restores to deform and drives the locking piece to restore to the initial state.

21. The airframe assembly as defined in claim 20, wherein the return spring is a torsion spring.

22. An unmanned aerial vehicle is characterized by comprising a rack assembly and a power device arranged on the rack assembly, wherein the power device is used for providing flight power for the unmanned aerial vehicle;

wherein, the frame subassembly includes: the locking mechanism comprises a center frame, a first machine arm, a second machine arm and a locking mechanism, wherein the first machine arm and the second machine arm are rotatably connected with the center frame, the locking mechanism is used for synchronously locking the first machine arm and the second machine arm, a first matching part used for matching with the locking mechanism is arranged at one end, close to a rotation center, of the first machine arm, and a second matching part used for matching with the locking mechanism is arranged at one end, close to the rotation center, of the second machine arm; the locking mechanism includes:

the first machine arm and the second machine arm can respectively rotate relative to the supporting piece, and the supporting piece is kept immovable relative to the center frame;

the locking piece is rotatably arranged on the supporting piece;

the driving device is arranged on the supporting piece and used for driving the locking piece to rotate towards the first matching part and the second matching part;

when the first machine arm rotates to the unfolding state relative to the second machine arm in the direction of increasing the included angle, the first matching part and the second matching part rotate to the preset locking position;

when first cooperation portion and second cooperation portion are behind the default locking position, drive arrangement drive the locking piece rotates extremely default locking position and blocks first cooperation portion and second cooperation portion, in order to prevent first horn and second horn rotate towards the direction that the contained angle reduces.

23. The drone of claim 22,

when the first machine arm and the second machine arm rotate relatively to the minimum preset included angle, the first machine arm and the second machine arm are in a folded state;

when the first machine arm and the second machine arm rotate relatively to the maximum preset included angle, the first machine arm and the second machine arm are in the unfolding state.

24. The drone of claim 22, wherein the free end of the first mating portion contacts the free end of the second mating portion when the first and second horn are relatively rotated to the deployed state.

25. The drone of claim 22, wherein the support member is rotatably connected with the first and second horn by a shaft; and/or the supporting piece is fixedly arranged on the center frame.

26. A drone according to claim 22, wherein the locking member includes an upper locking member for locking the top of the first and second mating portions and a lower locking member for locking the bottom of the first and second mating portions.

27. A drone according to claim 26, wherein the drive means cooperates with both the upper and lower locking members to simultaneously drive the relative rotation of the upper and lower locking members.

28. The drone of claim 22, wherein the locking member includes a locking portion for catching the first and second mating portions, and a force receiving portion for receiving a force of the driving device.

29. An unmanned aerial vehicle according to claim 28, wherein the drive arrangement includes a force application member and a transmission member, the force application member is used for receiving external force to drive the transmission member to rotate or move linearly, and the transmission member is used for cooperating with a stressed portion of the locking member to drive the locking member to rotate.

30. The unmanned aerial vehicle of claim 29, wherein the transmission means between the transmission member and the force receiving portion comprises at least one of: cam drive, gear drive, direct drive.

31. The drone of claim 30, wherein when the transmission means includes cam transmission, the transmission member includes a cam, the force-receiving portion is in abutting contact with an outer surface of the cam, and the cam rotates to push the force-receiving portion in contact with the outer surface of the cam to rotate the locking member.

32. A drone according to claim 31, wherein the cam is rotatably disposed on the support by a shaft.

33. An unmanned aerial vehicle according to claim 31, wherein an escape portion is provided on an inner side of the first mating portion and/or an inner side of the second mating portion, the escape portion being configured to provide a rotation space for the cam.

34. An unmanned aerial vehicle according to claim 33, wherein an elastic device is disposed in the avoidance portion, and the elastic device is configured to be in abutting contact with the cam to provide a preset elastic resistance, and when an external force applied to the cam overcomes the preset elastic resistance, the cam can rotate.

35. The unmanned aerial vehicle of claim 34, wherein the resilient means comprises a resilient element fixed in the escape, and a friction element disposed on top of the resilient element, the friction element being configured to be in abutting contact with the cam.

36. A drone according to claim 35, wherein the elastic element comprises at least one of: metal shrapnel, rubber pad, axial spring.

37. The unmanned aerial vehicle of claim 30, wherein when the transmission comprises gear transmission, the transmission comprises a gear, the force-receiving portion is in a shape of a tooth, the force-receiving portion is engaged with the gear, and the force-applying member drives the gear to rotate, so that the gear drives the locking member to rotate;

or, the driving medium includes the rack, the locking piece include with the profile of tooth portion of rack toothing, application of force spare drives rack linear motion, so that the rack drives the locking piece rotates.

38. The unmanned aerial vehicle of claim 30, wherein when the transmission mode includes direct drive, the both ends of driving medium respectively with application of force spare with the atress portion fixed connection of locking piece, application of force spare rotates under the exogenic action to directly drive the locking piece through the driving medium and rotate.

39. A drone according to claim 29, wherein the force applying member includes at least one of: the pressing piece, the rotating piece and the pushing and pulling piece.

40. The unmanned aerial vehicle of claim 22, wherein the driving device comprises a motor, an output shaft of the motor is fixedly connected with the locking member, the motor is further electrically connected with a control device, the control device is configured to receive a trigger signal from a user, so as to control the motor to perform a rotation action according to the trigger signal, and the motor rotates to drive the locking member to rotate.

41. An unmanned aerial vehicle according to claim 22, wherein the locking member is rotatably connected to the support member via a rotating shaft, and a return elastic member is provided between the locking member and the rotating shaft, and is configured to maintain the locking member in an initial state away from the first engaging portion and the second engaging portion in a natural state;

in the process that the driving device drives the locking piece to rotate to the preset locking position, the reset elastic piece deforms; when the acting force applied by the driving device is reduced or disappears, the reset elastic piece restores to deform and drives the locking piece to restore to the initial state.

42. A drone according to claim 41, wherein the return spring is a torsion spring.

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