CN109070993B

CN109070993B - Unmanned aerial vehicle's frame subassembly and unmanned aerial vehicle

Info

Publication number: CN109070993B
Application number: CN201780026325.9A
Authority: CN
Inventors: 张松
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-09-30
Filing date: 2017-09-30
Publication date: 2022-04-26
Anticipated expiration: 2037-09-30
Also published as: CN109070993A; WO2019061473A1

Abstract

An unmanned aerial vehicle and a rack assembly thereof comprise a central frame, a first machine arm (10), a second machine arm (20), a synchronizing device (30), a locking device (40) and a mounting seat (50); the first machine arm (10) and the second machine arm (20) rotate relative to the mounting base (50), and the mounting base (50) is kept stationary relative to the center frame; the synchronizing device (30) is arranged between the first machine arm (10) and the second machine arm (20), the synchronizing device (30) comprises a plurality of transmission pieces capable of rotating relatively, and the first machine arm (10) and the second machine arm (20) synchronously rotate due to the rotation of the plurality of transmission pieces; the locking device (40) is used for locking at least one transmission piece, a convex part (31) is arranged on at least one transmission piece, and the locking device (40) comprises an elastic abutting component (41); the elastic abutting component (41) abuts against a convex part (31) on at least one transmission piece in the synchronous device (30) so as to block the transmission piece with the convex part (31) from rotating; when the transmission piece with the convex part (31) overcomes the elastic resistance applied by the elastic abutting component (41) under the action of external force, the transmission piece with the convex part (31) can continue to rotate.

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.

An embodiment of a first aspect of the present invention provides a rack assembly of an unmanned aerial vehicle, including: the centre frame, with first horn, the second horn of centre frame rotatable coupling to and be used for with the locking mechanical system of first horn with the synchronous locking of second horn, locking mechanical system includes: the locking device comprises a synchronizer, a locking device and a mounting seat;

the first machine arm and the second machine arm can rotate relative to the mounting seat, and the mounting seat is kept stationary relative to the center frame;

the synchronizing device is arranged between the first machine arm and the second machine arm and comprises a plurality of transmission pieces capable of rotating relatively, and the transmission pieces rotate to enable the first machine arm and the second machine arm to rotate synchronously;

the locking device is used for locking at least one of the transmission parts, a convex part is arranged on at least one transmission part in the synchronous device, and the locking device comprises an elastic abutting component which is arranged on the mounting seat and used for matching with the convex part;

the elastic propping component props against the convex part on at least one transmission piece in the synchronous device so as to block the transmission piece with the convex part from rotating; when the transmission piece with the convex part overcomes the elastic resistance applied by the elastic propping component under the action of external force, the transmission piece with the convex part can continue to rotate.

The frame component of the unmanned aerial vehicle provided by the embodiment of the invention is characterized in that a synchronizer, a locking device and a mounting seat are arranged, a first arm and a second arm rotate relative to the mounting seat, the mounting seat is fixed relative to a center frame, the synchronizer enables the first arm and the second arm to synchronously rotate through a plurality of transmission parts capable of rotating relative to each other, at least one transmission part in the synchronizer is provided with a convex part, the locking device comprises an elastic abutting component matched with the convex part, when the convex part rotates to the extent that the elastic abutting component is abutted by the elastic abutting component, the transmission part can not rotate under the action of the elastic resistance of the elastic abutting component, further the whole synchronizer can not rotate, the first arm and the second arm are locked, and when the external force overcomes the elastic resistance applied by the elastic abutting component, the transmission part with the convex part can continuously rotate, further the whole synchronizer can continuously rotate, the first and second arms are rotatable. Therefore, two machine arms are locked at a time, and the operation efficiency is improved.

An embodiment of a second aspect of the present invention provides a rack assembly of an unmanned aerial vehicle, including: the centre frame, with centre frame rotatable coupling's first horn, second horn, and be used for with first horn and the synchronous locking mechanical system of locking of second horn, locking mechanical system includes: the locking device comprises a synchronizer, a locking device and a mounting seat;

the synchronizing device comprises a center connecting rod, a first machine arm connecting rod group and a second machine arm connecting rod group, and the center connecting rod is rotatably connected to the mounting seat; one end of the central connecting rod is hinged with the head end of the first machine arm connecting rod group, and the tail end of the first machine arm connecting rod group is hinged with the first machine arm; the other end of the central connecting rod is hinged with the head end of the second machine arm connecting rod group, and the tail end of the second machine arm connecting rod group is hinged with the second machine arm; the central connecting rod, the first machine arm connecting rod group and the second machine arm connecting rod group are used for transmitting power to drive the first machine arm and the second machine arm to synchronously rotate;

the locking device is arranged between the mounting seat and the central connecting rod and comprises a locking state and an unlocking state, wherein in the locking state, the locking device provides resistance to block the central connecting rod from rotating until the central connecting rod overcomes the resistance under the action of external force, the locking device is switched to the unlocking state, and the central connecting rod can rotate relative to the mounting seat.

The frame component of the unmanned aerial vehicle provided by the embodiment of the invention is provided with the synchronizing device, the locking device and the mounting seat, the first machine arm and the second machine arm rotate relative to the mounting seat, the mounting seat is kept still relative to the center frame, the synchronizing device comprises a center connecting rod, a first machine arm connecting rod group and a second machine arm connecting rod group, the center connecting rod is rotatably connected to the mounting seat, the first machine arm connecting rod group, the center connecting rod, the second machine arm connecting rod group and the second machine arm are sequentially hinged to form a connecting rod transmission mode, the locking device is arranged between the mounting seat and the center connecting rod, the center connecting rod is prevented from rotating by providing resistance, the first machine arm and the second machine arm are in a locking state until the center connecting rod overcomes the resistance to continue rotating, and the first machine arm and the second machine arm are in an unlocking state. Furthermore, the two machine arms are locked at one time, and the operation efficiency is improved.

An embodiment of a third aspect of the present invention provides an unmanned aerial vehicle, including: the power device is used for providing flight power for the unmanned aerial vehicle;

wherein, the frame subassembly includes: the centre frame, with first horn, the second horn of centre frame rotatable coupling to and be used for with the locking mechanical system of first horn with the synchronous locking of second horn, locking mechanical system includes: the locking device comprises a synchronizer, a locking device and a mounting seat;

The unmanned aerial vehicle provided by the embodiment of the invention is characterized in that the first arm and the second arm rotate relative to the mounting seat by arranging the synchronizing device, the locking device and the mounting seat, the synchronizing device enables the first arm and the second arm to synchronously rotate through a plurality of transmission pieces which can rotate relative to each other, at least one transmission piece in the synchronizing device is provided with a convex part, the locking device comprises an elastic abutting component matched with the convex part, when the convex part rotates to the elastic propping assembly and is propped by the elastic propping assembly, under the action of the elastic resistance of the elastic propping assembly, the transmission member is unable to rotate, and thus the entire synchronization device is unable to rotate, the first and second arms are locked, when the external force overcomes the elastic resistance applied by the elastic abutting component, the transmission part with the convex part can continue to rotate, so that the whole synchronizing device can continue to rotate, and the first machine arm and the second machine arm can rotate. Therefore, two machine arms are locked at a time, and the operation efficiency is improved.

An embodiment of a fourth aspect of the present invention provides an unmanned aerial vehicle comprising: the power device is used for providing flight power for the unmanned aerial vehicle;

wherein the frame subassembly includes: the centre frame, with centre frame rotatable coupling's first horn, second horn, and be used for with first horn and the synchronous locking mechanical system of locking of second horn, locking mechanical system includes: the locking device comprises a synchronizer, a locking device and a mounting seat;

the first machine arm and the second machine arm rotate relative to the mounting seat, and the mounting seat is kept stationary relative to the center frame;

According to the unmanned aerial vehicle provided by the embodiment of the invention, the first mechanical arm and the second mechanical arm rotate relative to the mounting seat by arranging the synchronizing device, the locking device and the mounting seat, the synchronizing device comprises the center connecting rod, the first mechanical arm connecting rod group and the second mechanical arm connecting rod group, the center connecting rod is rotatably connected to the mounting seat, the first mechanical arm connecting rod group, the center connecting rod, the second mechanical arm connecting rod group and the second mechanical arm are sequentially hinged to form a connecting rod transmission mode, the locking device is arranged between the mounting seat and the center connecting rod, the center connecting rod is prevented from rotating by providing resistance, the first mechanical arm and the second mechanical arm are in a locking state until the center connecting rod overcomes the resistance to continue rotating, and the first mechanical arm and the second mechanical arm are in an unlocking state. Furthermore, the two machine arms are locked at one 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 a schematic view of a connection structure of a frame assembly of the unmanned aerial vehicle according to the embodiment of the present invention;

fig. 3 is an exploded view of a frame assembly of a drone provided by an embodiment of the present invention;

fig. 4 is a schematic diagram of a locking mechanism of a frame assembly of a drone provided by an embodiment of the present invention;

fig. 5 is another locking schematic diagram of a frame assembly of a drone provided by an embodiment of the present invention;

fig. 6 is a schematic structural diagram of the unmanned aerial vehicle provided in the embodiment of the present invention.

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 a schematic view of a connection structure of a frame assembly of the unmanned aerial vehicle according to the embodiment of the present invention; fig. 3 is an exploded view of a frame assembly of a drone provided by an embodiment of the present invention; fig. 4 is a schematic diagram of a locking mechanism of a frame assembly of a drone provided by an embodiment of the present invention;

referring to fig. 1-4, 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 with the center frame, and a locking mechanism for locking the first arm 10 and the second arm 20 synchronously, wherein the locking mechanism comprises: synchronization device 30, locking device 40 and mount 50. The first arm 10 and the second arm 20 may be fixed to the center frame by arm shafts, respectively.

Wherein the first and

second arms

10, 20 are rotatable relative to the mount 50 and the mount 50 remains stationary relative to the steady rest.

Specifically, the first arm 10 and the second arm 20 rotate relative to the mount 50, and the mount 50 remains stationary relative to the center frame. Specifically, the method at least comprises two embodiments:

the mounting seat 50 may be rotatably coupled to the first arm 10 and the second arm 20 by a rotating shaft, and more particularly, the rotating shaft of the mounting seat 50 may be coaxial with the rotating shaft of the first arm 10 and the second arm 20 and the center frame, so that the mounting seat 50 may not rotate when the first arm 10 and the second arm 20 rotate relative to the center frame.

Specifically, for example, the mounting seat 50 may include an upper housing (not shown), a lower housing 51, and the first and

second arms

10 and 20, which are oppositely disposed, and may be located between the upper and lower housings 51. One end of the upper housing and one end of the lower housing 51, and the first arm 10 and the center frame may be rotatably connected by a first arm rotation shaft a. The other end of the upper case and the other end of the lower case 51, and the second horn 20, the center frame may be rotatably connected by a second horn rotating shaft b.

Alternatively, the mounting base 50 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 mounting base 50 may not rotate when the first arm 10 and the second arm 20 rotate relative to the center frame.

Both of the above-mentioned manners can be realized, and when the first and

second booms

10 and 20 are locked on the mounting seat 50, the first and

second booms

10 and 20 cannot rotate relative to the center frame.

The synchronizing device 30 is disposed between the first arm 10 and the second arm 20, and the synchronizing device 30 includes a plurality of transmission members capable of rotating relatively, and the plurality of transmission members rotate to enable the first arm 10 and the second arm 20 to rotate synchronously. In this embodiment, the plurality of relatively rotatable transmission members may be a plurality of gears engaged with each other, a plurality of connecting rods hinged to each other, or other transmission members capable of transmitting power to enable the first arm 10 and the second arm 20 to rotate synchronously.

The locking device 40 is used for locking at least one of the plurality of transmission members, a protrusion 31 is arranged on at least one of the synchronization devices 30, and the locking device 40 includes an elastic abutting component 41 which is arranged on the mounting seat 50 and used for matching with the protrusion 31. The convex portion 31 on the transmission member may include one or more. The elastic propping assembly 41 can be detachably or non-detachably fixed on the mounting seat 50, such as screwing, clamping, welding, riveting, etc.

It is to be understood that the use of the locking device 40 for locking at least one of the plurality of transmission members means that at least one of the plurality of transmission members may be locked by the locking device 40, and it is not to be understood that any one of the plurality of transmission members may be locked by the locking device 40.

The elastic abutting component 41 abuts against the convex part 31 on at least one transmission member in the synchronous device 30 to prevent the transmission member with the convex part 31 from rotating; when the transmission member with the convex portion overcomes the elastic resistance applied by the elastic abutting component 41 under the action of the external force, the transmission member with the convex portion 31 can continue to rotate. When the transmission member with the protrusion 31 can continue to rotate, so that the power transmission in the synchronization device 30 can continue, the first and

second arms

10 and 20 can be synchronously transmitted by the synchronization device 30.

It is understood that, in design, the protrusion 31 can be designed to be abutted by the elastic abutting assembly 41 when rotated to a certain angle, at this angle, the first arm 10 and the second arm 20 can be in the unfolded state, the first arm 10 and the second arm 20 are locked in the unfolded state, and after overcoming the resistance of the elastic abutting assembly 41, the first arm 10 and the second arm 20 can rotate freely, for example, can rotate freely to the folded state.

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 are 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.

In addition, in the present embodiment, the locking means 40 may include two, and the two locking means 40 may be respectively disposed at both sides of the transmission member having the convex portion 31, whereby the locking effect may be further improved.

Example two

This embodiment is based on the first embodiment, and further, as shown in fig. 3 and fig. 4, the elastic abutting assembly 41 may include a fitting concave portion 411 that fits with the convex portion 31. When the convex portion 31 is located in the fitting concave portion 411, the transmission member having the convex portion 31 is maintained in the locked state by the locking device 40. The shape of the fitting recess 411 may be completely matched with the protrusion 31, or may be slightly larger than the protrusion 31, and when the protrusion 31 rotates to be snapped into the fitting recess 411, the protrusion 31 can better maintain the locking state under the restriction of the wall surface of the fitting recess 411, and the stability of the locking is improved.

In the process that the transmission member with the convex portion 31 rotates until the convex portion 31 gradually disengages from the mating concave portion 411, the elastic abutting component 41 is gradually compressed, and the transmission member with the convex portion 31 is switched from the locking state to the unlocking state. When the transmission member with the convex portion 31 rotates in the direction of departing from the mating concave portion 411, because the mating concave portion 411 is disposed on the elastic abutting assembly 41, the convex portion 31 presses the elastic abutting assembly 41 to compress the elastic abutting assembly 41, the elastic restoring force is increasingly greater, that is, the elastic abutting assembly 41 blocks the convex portion 31 from departing from the mating concave portion 411, the convex portion 31 needs to be separated from the mating concave portion 411 by a larger external force, when the external force is sufficiently large, the convex portion 31 is separated from the mating concave portion 411, when the transmission member with the convex portion 31 continues to rotate under the larger external force, the elastic resistance applied by the elastic abutting assembly 41 on the transmission member with the convex portion 31 is increasingly smaller, the transmission member with the convex portion 31 can rotate, and the first arm 10 and the second arm 20 can further rotate.

In the process that the transmission member with the convex portion 31 rotates until the convex portion 31 gradually enters the matching concave portion 31, the elastic abutting component 41 is gradually released, and the transmission member with the convex portion 31 is gradually switched from the unlocking state to the locking state. In the process that the transmission member with the convex portion 31 is rotated into the matching concave portion 31, the elastic abutting component 41 is gradually released, the elastic abutting component 41 facilitates the convex portion 31 to enter the matching concave portion 31, before the convex portion 31 is completely rotated into the matching concave portion 31 and the convex portion 31 is rotated out of the matching concave portion 31, the elastic abutting component 41 is in a released state, in the process, the convex portion 31 can smoothly rotate in the matching concave portion 31, therefore, in the process, the transmission member with the convex portion 31 is in an unlocking state, and the first machine arm 10 and the second machine arm 20 can smoothly rotate until the convex portion 31 is completely rotated into the matching concave portion 31 to reach a locking state.

In the present embodiment, the elastic abutting member 41 is provided with the engaging concave portion 411 engaging with the convex portion 31, so that the locking effect can be further improved, and the stability after locking can be improved.

Further, as shown in fig. 3 and 4, the protrusion 31 in this embodiment may protrude outward in a direction parallel to the rotation axis of the transmission member.

The convex part 31 of one transmission member may comprise a plurality of convex parts 41, a plurality of concave parts 32 are further formed on the end surface of the convex part 41, and the plurality of convex parts 31 and the plurality of concave parts 32 are continuously arranged to form the wavy end surface W1. Each adjacent convex portion 31 and concave portion 32 has a cambered transition therebetween. The elastic abutting assembly 41 is formed with a wavy engaging surface W2 for engaging with the wavy end surface. In the state shown in fig. 4, the wavy end surface W1 is engaged with the wavy engagement surface W2, so that during the counterclockwise rotation of the transmission member with the protrusion 31, the elastic propping element 41 is gradually compressed to block the rotation of the transmission member with the protrusion 31, and the current positions of the first arm 10 and the second arm 20 can be maintained to some extent. After the force is increased continuously to make the transmission member with the convex portion 31 rotate over the highest point of the wavy matching surface W2, the elastic propping assembly 41 gradually recovers deformation to make the contact surface between the wavy end surface W1 and the wavy matching surface W2 beneficial to rotation, and when the transmission member with the convex portion 31 rotates to the lowest position of the wavy matching surface W2, the transmission member will repeatedly enter a stage of hindering rotation, i.e. enter a locking state.

Through the matching of the wavy end surface W1 and the wavy matching surface W2, the entire synchronization device 30 can enter the locking state at a plurality of rotation angles, that is, the first and

second booms

10 and 20 can be further locked at a plurality of different included angle states.

As shown in fig. 3 and 4, preferably, the elastic abutting assembly 41 may include a rigid force applying member 41a for cooperating with the convex portion 31, and an elastic element 41b disposed between the rigid force applying member 41a and the mounting seat 50. The elastic element 41b may be an axial elastic member, and specifically may be an axial expansion spring, and one end of the elastic element 41b may be fixedly connected to the mounting seat 50, and the other end thereof may be fixedly connected to the rigid force application member 41 a. Of course, one end of the elastic element 41b may be fixedly connected to the mounting seat 50 or the rigid biasing member 41a, and the other end of the elastic element 41b may abut against the rigid biasing member 41a or the mounting seat 50.

The present embodiment provides elastic resistance through the elastic element 41b, and provides a contact surface with the transmission member having the protrusion 31 through the rigid force applying member 41a, and has a simple structure and stable function.

Of course, the elastic abutting assembly 41 may alternatively be a series of elastic pieces, rubber, or other parts capable of providing elastic resistance.

Furthermore, a guide shaft 52 may be fixed on the mounting seat 50, and the rigid force application member 41a and the elastic element 41b may be sleeved on the outer side of the guide shaft 52. Specifically, the outer diameter of the guide shaft 52 may be slightly larger than the hole diameters of the rigid force applying member 41a and the elastic element 41b, so that the rigid force applying member 41a does not affect the axial movement of the guide shaft 52, and the elastic element 41b can be limited to prevent the elastic element 41b from swinging.

By the arrangement of the guide shaft 52, the elastic resisting component 41 can be ensured to apply elastic resistance to the transmission member with the convex portion 31 in the synchronization device 30 along the predetermined direction, and good contact between the transmission member with the convex portion 31 and the rigid force application member 41a can be stably maintained.

In addition, with continued reference to fig. 3 and 4, a blocking portion 521 for blocking the circumferential rotation of the rigid biasing member 41a may be formed on the guide shaft 52. When the transmission member with the protrusion 31 rotates under the urging of the elastic urging assembly 41, the transmission member with the protrusion 31 may drive the rigid urging member 41a to rotate due to the interaction between the acting force and the reaction force, and especially in the case that only one end of the elastic element 41b is connected to the mounting seat 50 or the rigid urging member 41a, if the rigid urging member 41a also rotates along with the transmission member with the protrusion 31, the purpose of preventing the transmission member with the protrusion 31 from rotating cannot be achieved. The stopper 521 obstructs the rotation of the rigid biasing member 41a, so that the rigid biasing member 41a can only move axially along the guide shaft 52, and the locking effect of the locking device 40 is better and more reliable.

In this embodiment, the specific structure of the blocking portion 521 can be various, and the following forms are listed:

specifically, the blocking portion 521 may be a slide rail (not shown) provided on an outer side wall of the guide shaft 52 and extending in the axial direction, and correspondingly, a sliding groove (not shown) engaged with the slide rail is provided on an inner side wall of the rigid force applying member 41 a.

Of course, the other way around, that is, the blocking portion 521 is a sliding slot (not shown) provided on the outer side wall of the guide shaft and extending in the axial direction, and correspondingly, a sliding rail (not shown) engaged with the sliding slot is provided on the inner side wall of the rigid biasing member 41 a.

Alternatively, for example, as shown in fig. 3 and 4, the guide shaft 52 has a non-circular cross section, and the shape of the inner side wall of the rigid force application member 41a matches the cross-sectional shape of the guide shaft 52. For example, the guide shaft 52 is cut in a longitudinal section in a direction parallel to the axial direction such that the guide shaft 52 has a non-circular shape, and the cut longitudinal section forms the stopper 521.

The specific form of the blocking portion 521 is many besides the above description, and those skilled in the art can design the blocking portion according to the actual situation, which is not described herein.

EXAMPLE III

In this embodiment, the synchronization device 30 is further defined based on the first embodiment or the second embodiment, and the synchronization device 30 may include a link transmission assembly.

In this embodiment, it is preferable that the rotation shaft of at least one of the links in the link transmission assembly is fixed to the mounting seat 50.

As shown in fig. 2 and 3, the link transmission assembly may include a center link 30m, a first transition link 30a, a first arm link 30b, a second transition link 30c, a second arm link 30 d; a first linear slideway 53 and a second linear slideway 54 can be formed on the mounting seat 50; the center link 30m may be rotatably coupled to the mount 50 by a rotation shaft.

The head end of the first transition connecting rod 30a is hinged with one end of the central connecting rod 30m, and the tail end of the first transition connecting rod 30a is hinged with the head end of the first arm connecting rod 30 b; the end of the first arm link 30b is hinged to the first arm, and the hinged joint of the first transition link 30a and the first arm link 30b is slidably disposed in the first linear slideway 53.

The head end of the second transition connecting rod 30c is hinged with the other end of the central connecting rod 30m, the tail end of the second transition connecting rod 30c is hinged with the head end of the second machine arm connecting rod 30d, the tail end of the second machine arm connecting rod 30d is hinged with the second machine arm 20, and the hinged part of the second transition connecting rod and the second machine arm connecting rod 30d is slidably arranged in the second linear slideway 54.

With the above link form, the first arm 10, the first arm link 30b, the first transition link 30a, the center link 30m, the second transition link 30c, the second arm link 30d, and the second arm 20 together form a seven-link structure.

In this embodiment, the hinge axis of the first arm link 30b and the first arm 10 is not coaxial with the first arm rotation axis a of the first arm link 30b relative to the center frame, and the hinge axis of the second arm link 30d and the second arm 20 is not coaxial with the second arm rotation axis b of the second arm link 30d relative to the center frame.

The general working principle of the frame assembly of the unmanned aerial vehicle provided by the embodiment that the first arm 10 and the second arm 20 are driven to synchronously rotate by the synchronizing device in the form of the connecting rod is as follows:

first, taking the rotation of the center link 30m as an example, for example, as shown in fig. 2, when the center link 30m is rotated clockwise, the center link 30m pushes the first transition link 30a to rotate, the end of the first transition link 30a slides to the left in the first linear slideway 53, which drives the first arm link 30b to rotate counterclockwise, and the first arm 10 rotates clockwise; meanwhile, the central link 30m pushes the second transition link 30c to rotate, the tail end of the second transition link 30c slides to the right in the second linear slideway 54, the second arm link 30d is driven to rotate clockwise, and the second arm 20 rotates counterclockwise, so that the first arm 10 and the second arm 30 rotate towards the direction in which the included angle is relatively reduced at the same time to a folded state.

When the first arm 10 and the second arm 30 are in the folded state, the central link 30m is rotated in the counterclockwise direction, the central link 30m pushes the first transition link 30a to rotate, the tail end of the first transition link 30a slides to the right in the first linear slideway 53, the first arm link 30b is driven to rotate clockwise, and the first arm 10 rotates counterclockwise; meanwhile, the central link 30m pushes the second transition link 30c to rotate, the tail end of the second transition link 30c slides to the left in the second linear slideway 54, the second arm link 30d is driven to rotate anticlockwise, the second arm 20 rotates clockwise, and therefore the first arm 10 and the second arm 30 rotate towards the direction in which the included angle is relatively increased at the same time.

Similarly, when the first arm 10 or the second arm 20 is rotated, the power can be transmitted from the first arm 10 to the second arm 20 or from the second arm 20 to the first arm 10 through the above-mentioned transmission manner. The detailed transmission process is not described herein.

Specifically, in the present embodiment, the first linear slideway 53 may include a linear groove and/or a linear through hole; and/or the second linear slide 54 may include linear grooves and/or linear through-holes.

In the present embodiment, the center link 30m is formed with a convex portion 31. The locking device 40 locks the convex portion 31 on the center link 30m to block the rotation of the center link 30m, so as to block the power transmission of the synchronization device 30, and achieve the locking of the first arm 10 and the second arm 20.

Example four

The present embodiment further defines the synchronization device 30 on the basis of the first embodiment or the second embodiment, and provides a different implementation manner from the third embodiment, specifically, the link transmission assembly includes a central link 30m, a first arm link, and a second arm link; the center link 30m is rotatably coupled to the mount 50 through a rotation shaft. The head end of the first arm link is hinged to one end of the central link 30m, and the tail end of the first arm link is hinged to the first arm 10. The head end of the second arm link is hinged to the other end of the central link 30m, and the tail end of the second arm link is hinged to the second arm 20.

That is, in the third embodiment, the first filter link 30a, the second transition link 30c, and the first linear slideway 53 and the second linear slideway 54 are omitted, and the first arm 10 and the second arm 20 can be synchronously rotated.

EXAMPLE five

In this embodiment, the synchronization device 30 is further limited on the basis of the first embodiment or the second embodiment, and an implementation manner different from the third embodiment and the fourth embodiment is provided.

The synchronizing device 30 may include a pair of engaging gears, and the pair of engaging gears includes a first gear fixedly connected to the first arm 10 and a second gear fixedly connected to the second arm 20, and the first gear is in meshing transmission with the second gear.

In this embodiment, the first arm 10 and the second arm 20 rotate synchronously in a gear engagement manner, for example, when the first arm 10 rotates counterclockwise, the first gear drives the first gear to rotate counterclockwise, the first gear drives the second gear to rotate clockwise, and the second gear drives the second arm to rotate clockwise.

When the locking device 40 locks any one gear to be unable to rotate, neither the first arm 10 nor the second arm 20 can rotate, thereby achieving locking.

The synchronous rotation of the first and

second arms

10 and 10 can also be achieved by means of a gear mesh pair.

EXAMPLE six

This embodiment provides another unmanned aerial vehicle's frame subassembly, please refer to fig. 1-fig. 4, this embodiment provides includes: centre frame, the first horn 10, the second horn 20 with centre frame rotatable coupling to and be used for the locking mechanical system of synchronous locking of first horn 10 with second horn 20, locking mechanical system includes: synchronization device 30, locking device 40 and mount 50. The first arm 10 and the second arm 20 may be fixed to the center frame by arm shafts, respectively.

The first and

second arms

10 and 20 rotate relative to the mount 50, and the mount 50 remains stationary relative to the steady rest.

second arms

Both of the above-mentioned manners can be realized, and when the first and

second booms

10 and 20 are locked on the mounting seat 50, the first and

second booms

10 and 20 cannot rotate relative to the center frame.

The synchronizer 30 comprises a central connecting rod 30m, a first machine arm connecting rod group and a second machine arm connecting rod group, wherein the central connecting rod 30m is rotatably connected to the mounting base 50; one end of the central connecting rod 30m is hinged with the head end of the first machine arm connecting rod group, and the tail end of the first machine arm connecting rod group is hinged with the first machine arm 10; the other end of the central connecting rod 30m is hinged with the head end of the second mechanical arm connecting rod group, and the tail end of the second mechanical arm connecting rod group is hinged with the second mechanical arm 20; the center link 30m, the first arm linkage and the second arm linkage are used for transmitting power to drive the first arm 10 and the second arm 20 to rotate synchronously.

The locking device 40 is disposed between the mounting seat 50 and the center link 30m, and the locking device 40 includes a locked state in which the locking device 40 provides a resistance to prevent the center link 30m from rotating until the center link 30m overcomes the resistance by an external force, and an unlocked state in which the locking device 40 is switched and the center link can rotate relative to the mounting seat 50. In this embodiment, the locking device 40 may be locked in various manners, for example, it is clamped on the central link 30m to prevent the central link 30m from rotating, or it blocks the central link 30m from rotating by means of friction resistance or elastic resistance, and its implementation manner is various, and this embodiment is not limited herein.

It is understood that, in designing, it may be designed that the center link 30m is locked by the locking device when rotated to an angle at which the first and

second arms

10 and 20 may be in the unfolded state and the first and

second arms

10 and 20 may be locked in the unfolded state, and that the first and

second arms

10 and 20 may be freely rotated, for example, to the folded state after the locking of the synchronization device is removed.

The unmanned aerial vehicle's that this embodiment provided frame subassembly, through setting up synchronizer, locking device and mount pad, first horn and second horn rotate for the mount pad, synchronizer includes central connecting rod, first horn linkage and second horn linkage, central connecting rod rotationally connects on the mount pad, first horn linkage, central connecting rod, second horn linkage and second horn articulate the form that forms the connecting rod transmission in order, locking device establishes between mount pad and central connecting rod, hinder central connecting rod through providing the resistance and rotate, first horn and second horn are in locking state, it continues to rotate to overcome the resistance until central connecting rod, first horn and second horn are in the unblock state. Furthermore, the two machine arms are locked at one time, and the operation efficiency is improved.

EXAMPLE seven

In this embodiment, on the basis of the sixth embodiment, the first arm linkage and the second arm linkage are further defined, and the first arm linkage includes: a first transition link 30a, a first arm link 30b, and a first linear slide 53 formed on mount 50; the head end of the first transition connecting rod 30a is hinged with one end of the central connecting rod 30m, and the tail end of the first transition connecting rod 30a is hinged with the head end of the first arm connecting rod 30 b; the end of the first arm link 30b is hinged to the first arm, and the hinged joint of the first transition link 30a and the first arm link 30b is slidably disposed in the first linear slideway 53.

The second arm linkage includes: a second transition link 30c, a second arm link 30d, and a second linear slide 54 formed on mount 50; the head end of the second transition connecting rod 30c is hinged with the other end of the central connecting rod 30m, the tail end of the second transition connecting rod 30c is hinged with the head end of the second machine arm connecting rod 30d, the tail end of the second machine arm connecting rod 30d is hinged with the second machine arm 20, and the hinged part of the second transition connecting rod and the second machine arm connecting rod 30d is slidably arranged in the second linear slideway 54.

The general working principle that the synchronization device of the frame assembly of the unmanned aerial vehicle provided by this embodiment drives the first arm 10 and the second arm 20 to rotate synchronously is as follows:

Further, a first slide block P1 is arranged at the hinge joint of the first transition link 30a and the first arm link 30b, and the first slide block P1 is matched with the first linear slideway 53; and/or a second slide block P2 is arranged at the hinged part of the second transition connecting rod 30a and the second machine arm connecting rod 30d, and the second slide block P2 is matched with the second linear slideway 54.

Example eight

In the present embodiment, on the basis of the sixth embodiment, an embodiment of the synchronization device 30 is provided, which is different from the seventh embodiment, specifically, the first arm link group at most includes a first arm link; the second machine arm connecting rod group at most comprises a second machine arm connecting rod; the central connecting rod 30m is rotatably connected to the mounting base 50 through a rotating shaft;

the head end of the first arm link is hinged to one end of the central link 30m, and the tail end of the first arm link is hinged to the first arm 10. The head end of the second arm link is hinged to the other end of the central link 30m, and the tail end of the second arm link is hinged to the second arm 20.

That is, in the seventh embodiment, the first filter link 30a, the second transition link 30c, and the first linear slide 53 and the second linear slide 54 are omitted, and the first arm 10 and the second arm 20 can be synchronously rotated.

Example nine

In this embodiment, on the basis of the sixth embodiment, the seventh embodiment or the eighth embodiment, the locking manner of the locking device 40 is further defined, and specifically, the central link 30m may include a convex portion 31; the locking device 40 comprises an elastic abutting component 41 which is arranged on the mounting seat 50 and is used for matching the convex part 31; the elastic abutting component 41 abuts against the convex part 31 on the central connecting rod 30m to block the central connecting rod 30m from rotating; when the central link 30m overcomes the elastic resistance applied by the elastic abutting component 41 under the action of the external force, the central link 30m can continue to rotate. When the center link 30m can be continuously rotated, so that the power transmission in the synchronization device 30 can be continued, the first and

second arms

10 and 20 can be synchronously driven by the synchronization device 30.

The elastic propping assembly 41 can be detachably or non-detachably fixed on the mounting seat 50, such as screwing, clamping, welding, riveting, etc.

The locking device 40 of the present embodiment locks the center link 30m by using elastic resistance, and has a simple structure and convenient operation.

In addition, it should be noted that, in the present embodiment, the locking device 40 may include two, and the two locking devices 40 may be respectively disposed on both sides of the center link 30m, thereby further improving the locking effect.

Example ten

In this embodiment, on the basis of the ninth embodiment, as shown in fig. 3 and 4, further, the elastic propping assembly 41 may include a fitting concave portion 411 that fits with the convex portion 31. When the convex portion 31 is located in the fitting concave portion 411, the locking device 40 maintains the center link 30m in the locked state. The shape of the fitting recess 411 may be completely matched with the protrusion 31, or may be slightly larger than the protrusion 31, and when the protrusion 31 rotates to be snapped into the fitting recess 411, the protrusion 31 can better maintain the locking state under the restriction of the wall surface of the fitting recess 411, and the stability of the locking is improved.

In the process that the central link 30m rotates until the convex portion 31 is gradually separated from the mating concave portion 411, the elastic abutting assembly 41 is gradually compressed, and the central link 30m is switched from the locking state to the unlocking state. When the rotation of the center link 30m causes the convex portion 31 to rotate toward the direction away from the mating concave portion 411, because the mating concave portion 411 is disposed on the elastic abutting component 41, the convex portion 31 presses the elastic abutting component 41 to compress the elastic abutting component 41, the elastic restoring force is increasingly large, that is, the elastic abutting component 41 blocks the convex portion 31 from disengaging from the mating concave portion 411, the convex portion 31 needs to be disengaged from the mating concave portion 411 by a larger external force, when the external force is large enough, the convex portion 31 disengages from the mating concave portion 411, when the center link 30m continues to rotate under the larger external force, the elastic resistance applied by the elastic abutting component 41 to the center link 30m is increasingly small, the center link 30m can rotate, and the first arm 10 and the second arm 20 can further rotate.

In the process that the central link 30m rotates until the convex portion 31 gradually enters the matching concave portion 31, the elastic abutting component 41 is gradually released, and the central link 30m is gradually switched from the unlocking state to the locking state. In the process that the center link 30m is rotated into the matching concave portion 31, the elastic abutting assembly 41 is gradually released, the elastic abutting assembly 41 facilitates the convex portion 31 to enter the matching concave portion 31, before the convex portion 31 is completely rotated into the matching concave portion 31 and the convex portion 31 is rotated out of the matching concave portion 31, the elastic abutting assembly 41 is in a released state, in the process, the convex portion 31 can smoothly rotate in the matching concave portion 31, therefore, in the process, the center link 30m is in an unlocking state, and the first machine arm 10 and the second machine arm 20 can smoothly rotate until the convex portion 31 is completely rotated into the matching concave portion 31 to reach a locking state.

Further, as shown in fig. 3 and 4, the convex portion 31 protrudes outward in a direction parallel to the rotational axis of the center link 30 m.

The number of the convex portions 31 on the center link 31 may be plural, the end surface of the convex portion 41 is further formed with a plurality of concave portions 32, and the plurality of convex portions 31 and concave portions 32 are continuously arranged to form a wavy end surface W1. Each adjacent convex portion 31 and concave portion 32 has a cambered transition therebetween. The elastic abutting assembly 41 is formed with a wavy engaging surface W2 for engaging with the wavy end surface. In the state shown in fig. 4, the wavy end surface W1 is engaged with the wavy engagement surface W2, so that during the counterclockwise rotation of the center link 30m, the elastic abutting assembly 41 is gradually compressed to block the rotation of the center link 30m, and the current positions of the first arm 10 and the second arm 20 can be maintained to some extent. After the force is increased continuously to make the central link 30m rotate over the highest point of the wavy matching surface W2, the elastic propping assembly 41 gradually recovers deformation to make the contact surface between the wavy end surface W1 and the wavy matching surface W2 beneficial to rotation, and when the central link 30m rotates to the lowest position of the wavy matching surface W2, the central link repeatedly enters a stage of hindering rotation, namely, enters a locking state.

second booms

Furthermore, the central link 30m may be rotatably connected to the mounting seat 50 through a link shaft (the same as the guiding shaft 52 in the second embodiment), and the rigid force applying component 41a and the elastic component 41b are sleeved on the link shaft. Specifically, the outer diameter of the link shaft may be slightly larger than the bore diameters of the rigid force application member 41a and the elastic element 41b, so that the rigid force application member 41a does not move axially along the link shaft, and the elastic element 41b can be limited to prevent the elastic element 41b from swinging.

By sleeving the rigid force application member 41a and the elastic element 41b on the outer side of the link rotating shaft, the elastic resisting component 41 can be ensured to apply elastic resistance to the central link 30m along the predetermined direction, and good contact between the central link 30m and the rigid force application member 41a can be stably maintained.

In addition, with continued reference to fig. 3 and 4, a blocking portion 521 for blocking the circumferential rotation of the rigid biasing member 41a may be formed on the link shaft. When the central link 30m rotates under the urging of the elastic urging assembly 41, the central link 30m may drive the rigid urging member 41a to rotate due to the interaction between the urging force and the reaction force, and especially in the case that only one end of the elastic element 41b is connected to the mounting seat 50 or the rigid urging member 41a, if the rigid urging member 41a also rotates along with the central link 30m, the purpose of blocking the rotation of the central link 30m cannot be achieved. The stopper 521 obstructs the rotation of the rigid force application member 41a, so that the rigid force application member 41a can only move in the axial direction of the link rotation shaft, and the locking effect of the locking device 40 is better and more reliable.

specifically, the blocking portion 521 may be a sliding rail (not shown) disposed on an outer side wall of the connecting rod rotating shaft and extending along the axial direction, and correspondingly, a sliding groove (not shown) matched with the sliding rail is disposed on an inner side wall of the rigid force applying member 41 a.

Alternatively, for example, as shown in fig. 3 and 4, the cross section of the link rotary shaft is non-circular, and the shape of the inner side wall of the rigid force application member 41a matches the shape of the cross section of the link rotary shaft. For example, the link rotation shaft is cut in a direction parallel to the axial direction to form a longitudinal section such that the link rotation shaft has a non-circular shape, and the cut longitudinal section forms the stopper 521.

In addition, as another alternative embodiment, the convex portion 31 may also be protruded outward in the radial direction of the center link 30 m. Correspondingly, the locking device 40 also locks the center link 30m on the radially outer side wall of the center link 30 m.

EXAMPLE eleven

In this embodiment, on the basis of the sixth embodiment, another locking manner of the locking device is provided. Specifically, fig. 5 is another schematic diagram of a locking mechanism of a rack assembly of the unmanned aerial vehicle according to the embodiment of the present invention. As shown in fig. 5, one of the locking device 40 and the center link 30m is sleeved outside the other of the locking device 40 and the center link 30m, a through hole 43 is formed on a side wall of one of the locking device 40 and the center link 30m, an elastic latch 44 is formed on one of the locking device 40 and the center link 30m at the through hole 43, a latch portion 441 is disposed on a side of the elastic latch 44 close to the through hole, and an engaging portion 31m engaged with the latch portion 441 is disposed on an outer side wall of the other of the locking device 40 and the center link 30 m.

In the initial state, the latching portion 441 is latched into the fitting portion 31m through the through hole 43 to hinder the rotation of the center link 30 m.

The elastic lock 44 moves in a direction away from the through hole 43 by an external force to disengage the locking portion 441 from the engagement portion 31m, and the center link 30m can be rotated. Specifically, as shown in fig. 5, the operator may snap the elastic lock 44 in a direction away from the through hole 43.

Specifically, as shown in fig. 5, resilient latch 44 may include a connecting end 442 for connecting with a side wall of one of center links 30m and a free end 443, which is remote from connecting end 442, of locking device 40.

At least one section between the connection end 442 and the latching portion 441 is an elastic section. Thereby, it is at least possible to realize that the elastic lock 44 can be broken by the external force and can be automatically restored after the external force disappears.

Alternatively, the resilient catch 44 may comprise a rigid body on which the latch 441 is located, and a torsion spring (not shown) disposed between the rigid body and a side wall of one of the locking device 40 and the center link 30 m.

Or alternatively the resilient latch 44 is a spring steel plate.

It should be noted that fig. 5 shows only the solution in which the locking device 40 is sleeved outside the central connecting rod 30m, and in fact, the reverse can also be said, and the central connecting rod 30m can be sleeved outside the locking device 40.

In the present embodiment, the elastic latch 44 directly holds the center link 30m, and the first and

second arms

10 and 20 can be locked as well.

Example twelve

Fig. 6 is a schematic structural diagram of the unmanned aerial vehicle provided in the embodiment of the present invention. Referring to fig. 1-5 and fig. 6, the present embodiment provides an unmanned aerial vehicle, which includes a frame assembly and a power device disposed on the frame assembly, wherein the power device is used for providing flight power to the unmanned aerial vehicle.

Wherein, the frame subassembly includes: a center frame 100, a first arm 10 and a second arm 20 rotatably connected to the center frame 100, and a locking mechanism for locking the first arm 10 and the second arm 20 synchronously, the locking mechanism comprising: synchronization device 30, locking device 40 and mount 50. The first arm 10 and the second arm 20 may be fixed to the center frame by arm shafts, respectively.

Wherein the first and

second arms

Both of the above-mentioned manners can be realized, and when the first and

second booms

10 and 20 are locked on the mounting seat 50, the first and

second booms

10 and 20 cannot rotate relative to the center frame.

second arms

10 and 20 can be synchronously transmitted by the synchronization device 30.

The unmanned aerial vehicle provided by the embodiment of the invention is characterized in that the first arm and the second arm rotate relative to the mounting base, the mounting base is fixed relative to the center frame, the first arm and the second arm synchronously rotate through a plurality of transmission parts capable of rotating relative to the synchronization device, at least one transmission part in the synchronization device is provided with a convex part, the locking device comprises an elastic abutting component matched with the convex part, when the convex part rotates until the elastic abutting component is abutted by the elastic abutting component, the transmission part cannot rotate under the action of elastic resistance of the elastic abutting component, so that the whole synchronization device cannot rotate, the first arm and the second arm are locked, and when external force overcomes the elastic resistance applied by the elastic abutting component, the transmission part with the convex part can continuously rotate, so that the whole synchronization device can continuously rotate, the first and second arms are rotatable. Therefore, two machine arms are locked at a time, and the operation efficiency is improved.

EXAMPLE thirteen

The present embodiment is based on the twelfth embodiment, and further, as shown in fig. 3 and 4, the elastic abutting assembly 41 may include a fitting concave portion 411 that fits with the convex portion 31. When the convex portion 31 is located in the fitting concave portion 411, the transmission member having the convex portion 31 is maintained in the locked state by the locking device 40. The shape of the fitting recess 411 may be completely matched with the protrusion 31, or may be slightly larger than the protrusion 31, and when the protrusion 31 rotates to be snapped into the fitting recess 411, the protrusion 31 can better maintain the locking state under the restriction of the wall surface of the fitting recess 411, and the stability of the locking is improved.

second booms

Example fourteen

In the present embodiment, the synchronizing device 30 is further defined on the basis of the twelfth or thirteenth embodiment, and the synchronizing device 30 may include a link transmission assembly.

Example fifteen

In this embodiment, based on the twelfth or thirteenth embodiment, the synchronizing device 30 is further defined, and an implementation manner different from the fourteenth embodiment is provided, specifically, the link transmission assembly includes a central link 30m, a first arm link, and a second arm link; the center link 30m is rotatably coupled to the mount 50 through a rotation shaft. The head end of the first arm link is hinged to one end of the central link 30m, and the tail end of the first arm link is hinged to the first arm 10. The head end of the second arm link is hinged to the other end of the central link 30m, and the tail end of the second arm link is hinged to the second arm 20.

That is, in the fourteenth embodiment, the first filter link 30a, the second transition link 30c, and the first linear slideway 53 and the second linear slideway 54 are omitted, and the first arm 10 and the second arm 20 can be synchronously rotated.

Example sixteen

In this embodiment, the synchronizing device 30 is further defined on the basis of the twelfth embodiment or the thirteenth embodiment, and an embodiment different from the fourteenth embodiment and the fifteenth embodiment is provided.

The synchronous rotation of the first and

second arms

10 and 10 can also be achieved by means of a gear mesh pair.

Example seventeen

Referring to fig. 1-5 and fig. 6, the present embodiment provides another unmanned aerial vehicle, which includes a frame assembly and a power device disposed on the frame assembly, wherein the power device is used for providing flight power to the unmanned aerial vehicle.

Wherein the frame subassembly includes: the center frame 100, the first arm 10 and the second arm 20 rotatably connected to the center frame 100, and the locking mechanism for locking the first arm 10 and the second arm 20 synchronously, the locking mechanism includes: synchronization device 30, locking device 40 and mount 50. The first arm 10 and the second arm 20 may be respectively fixed to the center frame 100 by arm shafts.

The first and

second arms

Both of the above-mentioned manners can be realized, and when the first and

second booms

10 and 20 are locked on the mounting seat 50, the first and

second booms

10 and 20 cannot rotate relative to the center frame.

second arms

10 and 20 may be in the unfolded state and the first and

second arms

10 and 20 may be locked in the unfolded state, and that the first and

second arms

The unmanned aerial vehicle that this embodiment provided, through setting up synchronizer, locking device and mount pad, first horn and second horn rotate for the mount pad, synchronizer includes central connecting rod, first horn linkage and second horn linkage, central connecting rod rotationally connects on the mount pad, first horn linkage, central connecting rod, second horn linkage and second horn articulate the form that forms the connecting rod transmission in order, locking device establishes between mount pad and central connecting rod, hinder central connecting rod rotation through providing the resistance, first horn and second horn are in the locking state, overcome the resistance and continue to rotate until central connecting rod, first horn and second horn are in the unblock state. Furthermore, the two machine arms are locked at one time, and the operation efficiency is improved.

EXAMPLE eighteen

This embodiment further defines the first arm linkage and the second arm linkage on the basis of the seventeenth embodiment, and the first arm linkage includes: a first transition link 30a, a first arm link 30b, and a first linear slide 53 formed on mount 50; the head end of the first transition connecting rod 30a is hinged with one end of the central connecting rod 30m, and the tail end of the first transition connecting rod 30a is hinged with the head end of the first arm connecting rod 30 b; the end of the first arm link 30b is hinged to the first arm, and the hinged joint of the first transition link 30a and the first arm link 30b is slidably disposed in the first linear slideway 53.

Example nineteen

In this embodiment, on the basis of the seventeenth embodiment, an embodiment of the synchronizing device 30 is provided, which is different from the eighteenth embodiment, specifically, the first arm link group includes at most a first arm link; the second machine arm connecting rod group at most comprises a second machine arm connecting rod; the central connecting rod 30m is rotatably connected to the mounting base 50 through a rotating shaft;

That is, in the eighteenth embodiment, the first filter link 30a, the second transition link 30c, and the first linear slideway 53 and the second linear slideway 54 are omitted, and the first arm 10 and the second arm 20 can be synchronously rotated.

Example twenty

In this embodiment, on the basis of the seventeenth embodiment, the eighteenth embodiment, or the nineteenth embodiment, the locking manner of the locking device 40 is further defined, specifically, the central link 30m may include a convex portion 31; the locking device 40 comprises an elastic abutting component 41 which is arranged on the mounting seat 50 and is used for matching the convex part 31; the elastic abutting component 41 abuts against the convex part 31 on the central connecting rod 30m to block the central connecting rod 30m from rotating; when the central link 30m overcomes the elastic resistance applied by the elastic abutting component 41 under the action of the external force, the central link 30m can continue to rotate. When the center link 30m can be continuously rotated, so that the power transmission in the synchronization device 30 can be continued, the first and

second arms

10 and 20 can be synchronously driven by the synchronization device 30.

Example twenty one

In this embodiment, on the basis of the twentieth embodiment, as shown in fig. 3 and 4, further, the elastic abutting assembly 41 may include a fitting concave portion 411 that fits with the convex portion 31. When the convex portion 31 is located in the fitting concave portion 411, the locking device 40 maintains the center link 30m in the locked state. The shape of the fitting recess 411 may be completely matched with the protrusion 31, or may be slightly larger than the protrusion 31, and when the protrusion 31 rotates to be snapped into the fitting recess 411, the protrusion 31 can better maintain the locking state under the restriction of the wall surface of the fitting recess 411, and the stability of the locking is improved.

second booms

Example twenty two

This embodiment provides another locking method of the locking device based on the seventeenth embodiment. Specifically, fig. 5 is another schematic diagram of a locking mechanism of a rack assembly of the unmanned aerial vehicle according to the embodiment of the present invention. As shown in fig. 5, one of the locking device 40 and the center link 30m is sleeved outside the other of the locking device 40 and the center link 30m, a through hole 43 is formed on a side wall of one of the locking device 40 and the center link 30m, an elastic latch 44 is formed on one of the locking device 40 and the center link 30m at the through hole 43, a latch portion 441 is disposed on a side of the elastic latch 44 close to the through hole, and an engaging portion 31m engaged with the latch portion 441 is disposed on an outer side wall of the other of the locking device 40 and the center link 30 m.

Or alternatively the resilient latch 44 is a spring steel plate.

second arms

10 and 20 can be locked as well.

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

1. An unmanned aerial vehicle's frame subassembly which characterized in that includes: the centre frame, with first horn, the second horn of centre frame rotatable coupling to and be used for with the locking mechanical system of first horn with the synchronous locking of second horn, locking mechanical system includes: the locking device comprises a synchronizer, a locking device and a mounting seat;

2. The airframe assembly as defined in claim 1, wherein the resilient urging assembly includes a mating recess that mates with the protrusion;

when the convex part is positioned in the matching concave part, the locking device maintains the transmission piece with the convex part in a locking state;

in the process that the transmission piece with the convex part rotates until the convex part is gradually separated from the matching concave part, the elastic propping assembly is gradually compressed, and the transmission piece with the convex part is switched from a locking state to an unlocking state;

in the process that the transmission piece with the convex part rotates until the convex part gradually enters the matching concave part, the elastic propping assembly is gradually released, and the transmission piece with the convex part is gradually switched from the unlocking state to the locking state.

3. The airframe assembly as defined in claim 2, wherein the protrusion protrudes outward in a direction parallel to a rotation axis of the transmission member on which the protrusion is disposed.

4. The unmanned aerial vehicle frame assembly of claim 3, wherein the convex portion of one transmission member comprises a plurality of convex portions, the end surface of the convex portion is further formed with a plurality of concave portions, and the plurality of convex portions and concave portions are continuously arranged to form a wavy end surface;

the elastic propping assembly is provided with a wavy matching surface matched with the wavy end surface.

5. The airframe assembly as defined in claim 1, wherein the elastic abutting assembly comprises a rigid force application member for cooperating with the protruding portion, and an elastic element disposed between the rigid force application member and the mounting base.

6. The airframe assembly as defined in claim 5, wherein a guide shaft is fixed to the mounting base, and the rigid force applying member and the elastic member are sleeved on an outer side of the guide shaft.

7. The airframe assembly as defined in claim 6, wherein a blocking portion for blocking circumferential rotation of the rigid force applying member is formed on the guide shaft.

8. The unmanned aerial vehicle frame assembly of claim 7, wherein the blocking portion is a slide rail disposed on an outer side wall of the guide shaft and extending in an axial direction, and correspondingly, a sliding groove matched with the slide rail is disposed on an inner side wall of the rigid force application member;

or the blocking part is a sliding groove which is arranged on the outer side wall of the guide shaft and extends along the axial direction, and correspondingly, a sliding rail matched with the sliding groove is arranged on the inner side wall of the rigid force application part;

or the cross section of the guide shaft is non-circular, and the shape of the inner side wall of the rigid force application part is matched with that of the cross section of the guide shaft.

9. The airframe assembly as recited in claim 1, wherein the synchronizing means comprises a link assembly and/or a pair of meshing gears.

10. The airframe assembly as recited in claim 9, wherein when the synchronization device includes a link assembly, a shaft of at least one of the links is fixed to the mount.

11. The unmanned aerial vehicle's frame assembly of claim 10, wherein the link transmission assembly includes a center link, a first transition link, a first arm link, a second transition link, a second arm link; a first linear slideway and a second linear slideway are formed on the mounting seat; the central connecting rod is rotatably connected to the mounting seat through a rotating shaft;

the head end of the first transition connecting rod is hinged with one end of the central connecting rod, and the tail end of the first transition connecting rod is hinged with the head end of the first machine arm connecting rod; the tail end of the first machine arm connecting rod is hinged with the first machine arm, and the hinged part of the first transition connecting rod and the first machine arm connecting rod is arranged in the first linear slideway in a sliding manner;

the head end of the second transition connecting rod is hinged to the other end of the central connecting rod, the tail end of the second transition connecting rod is hinged to the head end of the second machine arm connecting rod, the tail end of the second machine arm connecting rod is hinged to the second machine arm, and the hinged position of the second transition connecting rod and the second machine arm connecting rod is slidably arranged in the second linear slideway.

12. The unmanned aerial vehicle frame assembly of claim 11, wherein the first linear slide comprises a linear groove and/or a linear through hole; and/or the second linear slideway comprises a linear groove and/or a linear through hole.

13. The unmanned aerial vehicle frame assembly of claim 10, wherein the link transmission assembly includes a center link, a first boom link, a second boom link; the central connecting rod is rotatably connected to the mounting seat through a rotating shaft;

the head end of the first machine arm connecting rod is hinged with one end of the central connecting rod, and the tail end of the first machine arm connecting rod is hinged with the first machine arm;

the head end of the second machine arm connecting rod is hinged with the other end of the central connecting rod, and the tail end of the second machine arm connecting rod is hinged with the second machine arm.

14. The airframe assembly as defined in claim 11 or 13, wherein the central link has the projection formed thereon.

15. The airframe assembly as defined in claim 9, wherein the synchronizing device comprises a pair of meshing gears, the pair of meshing gears comprising a first gear fixedly connected to the first arm and a second gear fixedly connected to the second arm, the first gear being in meshing transmission with the second gear.

16. An unmanned aerial vehicle's frame subassembly which characterized in that includes: the centre frame, with centre frame rotatable coupling's first horn, second horn, and be used for with first horn and the synchronous locking mechanical system of locking of second horn, locking mechanical system includes: the locking device comprises a synchronizer, a locking device and a mounting seat;

the locking device is arranged between the mounting seat and the central connecting rod and comprises a locking state and an unlocking state, the locking device provides resistance to block the central connecting rod from rotating in the locking state until the resistance is overcome under the action of external force, the locking device is switched to the unlocking state, and the central connecting rod can rotate relative to the mounting seat;

the central link includes a convex portion; the locking device comprises an elastic abutting assembly which is arranged on the mounting seat and used for matching with the convex part; the elastic propping component props against the convex part on the central connecting rod to block the central connecting rod from rotating; when the central connecting rod overcomes the elastic resistance applied by the elastic propping assembly under the action of external force, the central connecting rod can continue to rotate.

17. The airframe assembly as defined in claim 16, wherein the first linkage comprises: the first transition connecting rod, the first arm connecting rod and the first linear slideway are formed on the mounting seat; the head end of the first transition connecting rod is hinged with one end of the central connecting rod, and the tail end of the first transition connecting rod is hinged with the head end of the first machine arm connecting rod; the tail end of the first machine arm connecting rod is hinged with the first machine arm; the hinged part of the first transition connecting rod and the first machine arm connecting rod is arranged in the first linear slideway in a sliding way;

the second arm linkage includes: the second transition connecting rod, the second machine arm connecting rod and a second linear slideway are formed on the mounting seat; the head end of the second transition connecting rod is hinged with the other end of the central connecting rod, the tail end of the second transition connecting rod is hinged with the head end of the second machine arm connecting rod, and the tail end of the second machine arm connecting rod is hinged with the second machine arm; and the hinged part of the second transition connecting rod and the second machine arm connecting rod is arranged in the second linear slideway in a sliding manner.

18. The airframe assembly as defined in claim 17, wherein the first linear slide includes a linear groove and/or a linear through hole;

and/or the second linear slideway comprises a linear groove and/or a linear through hole.

19. The airframe assembly as defined in claim 17, wherein a first slider is disposed at a hinge of the first transition link and the first arm link, and the first slider is engaged with the first linear guideway; and/or a second sliding block is arranged at the hinged position of the second transition connecting rod and the second machine arm connecting rod, and the second sliding block is matched with the second linear slideway.

20. The unmanned aerial vehicle frame assembly of claim 16, wherein the first arm linkage comprises at most a first arm link; the second machine arm connecting rod group at most comprises a second machine arm connecting rod; the central connecting rod is rotatably connected to the mounting seat through a rotating shaft;

21. The airframe assembly as defined in claim 16, wherein the resilient urging assembly includes a mating recess that mates with the protrusion;

the locking means maintains the center link in a locked state when the male part is located within the mating female part;

in the process that the central connecting rod rotates until the convex part is gradually separated from the matching concave part, the elastic propping assembly is gradually compressed, and the central connecting rod with the convex part is switched from a locking state to an unlocking state;

in the process that the central connecting rod rotates until the convex part gradually enters the matching concave part, the elastic propping assembly is gradually released, and the central connecting rod with the convex part is gradually switched from the unlocking state to the locking state.

22. The airframe assembly as defined in claim 21, wherein the projection projects outwardly in a direction parallel to an axis of rotation of the center link.

23. The airframe assembly as defined in claim 21, wherein the central link includes a plurality of protrusions, the end surface of the protrusions is further formed with a plurality of recesses, and the plurality of protrusions and recesses are arranged in series to form a wavy end surface;

24. The airframe assembly as defined in claim 16, wherein the elastic abutting assembly comprises a rigid force applying member for engaging with the protrusion, and an elastic member disposed between the rigid force applying member and the mounting base.

25. The airframe assembly as defined in claim 24, wherein the central link is rotatably connected to the mounting base via a link shaft, and the rigid force applying member and the elastic member are sleeved on the link shaft.

26. The airframe assembly as defined in claim 25, wherein the link shaft has a blocking portion formed thereon for blocking circumferential rotation of the rigid force applying member.

27. The airframe component as defined in claim 26, wherein the blocking portion is a slide rail disposed on an outer side wall of the connecting rod rotating shaft and extending in an axial direction, and correspondingly, a sliding groove engaged with the slide rail is disposed on an inner side wall of the rigid force applying member;

or the blocking part is a sliding groove which is arranged on the outer side wall of the connecting rod rotating shaft and extends along the axial direction, and correspondingly, a sliding rail matched with the sliding groove is arranged on the inner side wall of the rigid force application part;

or the cross section of the connecting rod rotating shaft is non-circular, and the shape of the inner side wall of the rigid force application part is matched with that of the cross section of the connecting rod rotating shaft.

28. The airframe assembly as defined in claim 21, wherein the projection projects outwardly in a radial direction of the center link.

29. The airframe assembly as defined in claim 16, wherein one of the locking device and the center link is sleeved outside the other of the locking device and the center link, a through hole is formed on a sidewall of one of the locking device and the center link, an elastic latch is formed on one of the locking device and the center link and at the through hole, a latch portion is formed on a side of the elastic latch close to the through hole, and a fitting portion fitted with the latch portion is formed on an outer sidewall of the other of the locking device and the center link;

in an initial state, the clamping and locking part penetrates through the through hole and is clamped in the matching part so as to block the rotation of the central connecting rod;

the elastic lock catch moves in the direction far away from the through hole under the action of external force, so that the locking part is separated from the matching part, and the central connecting rod can rotate.

30. The airframe assembly as defined in claim 29, wherein the resilient latch includes a connecting end for connecting with the locking device and a side wall of one of the center links, and a free end remote from the connecting end.

31. The airframe assembly as defined in claim 30, wherein at least one section between the connecting end and the latch portion is an elastic section.

32. The airframe assembly as defined in claim 30, wherein the resilient latch includes a rigid body, and a torsion spring disposed between the rigid body and a side wall of one of the locking device and the center link, the latch being located on the rigid body.

33. The airframe assembly as defined in claim 30, wherein the resilient latch is a spring steel sheet.

34. 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;

35. The drone of claim 34, wherein the resilient abutment assembly includes a mating recess that mates with the protrusion;

36. A drone according to claim 35, characterised in that the projections project outwards in a direction parallel to the axis of rotation of the transmission on which they are located.

37. The unmanned aerial vehicle of claim 36, wherein the convex portion of one transmission member comprises a plurality of convex portions, the end surface of the convex portion is further formed with a plurality of concave portions, and the plurality of convex portions and concave portions are continuously arranged to form a wavy end surface;

38. The drone of claim 34, wherein the resilient abutment assembly includes a rigid force applying member for cooperating with the boss, and a resilient element disposed between the rigid force applying member and the mount.

39. The drone of claim 38, wherein a guide shaft is fixed to the mount, and the rigid force applying member and the elastic member are sleeved outside the guide shaft.

40. A drone according to claim 39, wherein a stop is formed on the guide shaft to resist circumferential rotation of the rigid forcing member.

41. The unmanned aerial vehicle of claim 40, wherein the blocking portion is a slide rail arranged on an outer side wall of the guide shaft and extending in the axial direction, and correspondingly, a sliding groove matched with the slide rail is arranged on an inner side wall of the rigid force application member;

42. A drone according to claim 34, wherein the synchronisation means comprises a link transmission assembly and/or a meshing gear pair.

43. A drone according to claim 42, wherein when the synchronisation means comprises a link transmission assembly, the shaft of at least one of the links in the link transmission assembly is fixed to the mount.

44. The drone of claim 43, wherein the link transmission assembly includes a center link, a first transition link, a first arm link, a second transition link, a second arm link; a first linear slideway and a second linear slideway are formed on the mounting seat; the central connecting rod is rotatably connected to the mounting seat through a rotating shaft;

45. A drone according to claim 44, wherein the first linear slide includes a linear groove and/or a linear through hole; and/or the second linear slideway comprises a linear groove and/or a linear through hole.

46. The drone of claim 43, wherein the link transmission assembly includes a center link, a first boom link, a second boom link; the central connecting rod is rotatably connected to the mounting seat through a rotating shaft;

47. A drone according to claim 44 or 46, wherein the central link has the boss formed thereon.

48. The drone of claim 42, wherein the synchronization device includes a pair of meshing gears, the pair of meshing gears including a first gear fixedly connected to the first arm and a second gear fixedly connected to the second arm, the first gear in meshing transmission with the second gear.

49. An unmanned aerial vehicle, comprising: the power device is used for providing flight power for the unmanned aerial vehicle;

the locking device is arranged between the mounting seat and the central connecting rod and comprises a locking state and an unlocking state, and in the locking state, the locking device provides resistance to block the central connecting rod from rotating until the central connecting rod overcomes the resistance under the action of external force, the locking device is switched to the unlocking state, and the central connecting rod can rotate relative to the mounting seat;

50. A drone as claimed in claim 49, wherein the first linkage includes: the first transition connecting rod, the first arm connecting rod and the first linear slideway are formed on the mounting seat; the head end of the first transition connecting rod is hinged with one end of the central connecting rod, and the tail end of the first transition connecting rod is hinged with the head end of the first machine arm connecting rod; the tail end of the first machine arm connecting rod is hinged with the first machine arm; the hinged part of the first transition connecting rod and the first machine arm connecting rod is arranged in the first linear slideway in a sliding way;

51. A drone according to claim 50, wherein the first linear slide includes a linear groove and/or a linear through hole;

52. An unmanned aerial vehicle according to claim 50, wherein a first slider is provided at a hinge joint of the first transition link and the first arm link, and the first slider is engaged with the first linear slideway; and/or a second sliding block is arranged at the hinged position of the second transition connecting rod and the second machine arm connecting rod, and the second sliding block is matched with the second linear slideway.

53. A drone as claimed in claim 49, wherein the first arm linkage includes at most a first arm link; the second machine arm connecting rod group at most comprises a second machine arm connecting rod; the central connecting rod is rotatably connected to the mounting seat through a rotating shaft;

54. A drone according to claim 49, wherein the resilient abutment assembly includes a mating recess that mates with the protrusion;

55. A drone according to claim 54, wherein the projections project outwardly in a direction parallel to the axis of rotation of the central link.

56. The unmanned aerial vehicle of claim 54, wherein the central link comprises a plurality of convex portions, the end surface of the convex portion is further formed with a plurality of concave portions, and the plurality of convex portions and concave portions are continuously arranged to form a wavy end surface;

57. An unmanned aerial vehicle according to claim 49, wherein the resilient abutment assembly comprises a rigid force applying member for cooperating with the boss, and a resilient element disposed between the rigid force applying member and the mounting seat.

58. An unmanned aerial vehicle according to claim 57, wherein the central link is rotatably connected to the mounting base via a link shaft, and the rigid force applying member and the elastic member are sleeved on the link shaft.

59. A UAV according to claim 58 wherein the link shaft is formed with a stop to resist circumferential rotation of the force applying rigid member.

60. An unmanned aerial vehicle according to claim 59, wherein the blocking portion is a slide rail provided on an outer side wall of the connecting rod rotating shaft and extending in an axial direction, and correspondingly, a slide groove matched with the slide rail is provided on an inner side wall of the rigid force application member;

61. A drone according to claim 54, wherein the lobes project outwardly in a radial direction of the central link.

62. An unmanned aerial vehicle according to claim 49, wherein one of the locking device and the center link is sleeved outside the other of the locking device and the center link, a through hole is formed in a side wall of one of the locking device and the center link, an elastic lock catch is formed on one of the locking device and the center link and at the through hole, a locking part is arranged on one side of the elastic lock catch close to the through hole, and an engaging part engaged with the locking part is arranged on an outer side wall of the other of the locking device and the center link;

63. A drone according to claim 62, wherein the resilient catch includes a connecting end for connection with the locking device and the side wall of one of the central links, and a free end remote from the connecting end.

64. A drone as claimed in claim 63, wherein at least one section between the connection end and the latch portion is an elastic section.

65. An unmanned aerial vehicle as claimed in claim 63, wherein the resilient catch comprises a rigid body, and a torsion spring disposed between the rigid body and a side wall of one of the locking device and the central link, the latch portion being located on the rigid body.

66. A drone as claimed in claim 63, wherein the resilient latch is a piece of spring steel.