WO2022183361A1

WO2022183361A1 - Multi-rotor unmanned aerial vehicle

Info

Publication number: WO2022183361A1
Application number: PCT/CN2021/078644
Authority: WO
Inventors: 黎裕熙; 陈凯; 刘以奋
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-03-02
Filing date: 2021-03-02
Publication date: 2022-09-09

Abstract

A multi-rotor unmanned aerial vehicle, the vehicle comprising: a vehicle arm (20), wherein a connecting portion (21) is arranged at an end surface of one end of the vehicle arm (20) in a lengthwise direction, and a rotor device (40) used for providing flying power is arranged at the other end thereof; a fuselage (10), wherein a circumferential limiting structure (11) is arranged on the fuselage (10); and a fastener (22) used for mechanically coupling the vehicle arm (20) with the fuselage (10), wherein the circumferential limiting structure (11) is connected to the end of the vehicle arm (20) with the connecting portion (21) so as to limit the movement of the vehicle arm (20) in a circumferential direction, and the fastener (22) is connected to the connecting portion (21) in the lengthwise direction of the vehicle arm (20) so as to fix the vehicle arm (20) on the fuselage (10) and to limit the movement of the vehicle arm (20) in the lengthwise direction of the vehicle arm (20). The vehicle arm of the multi-rotor unmanned aerial vehicle is connected to the fuselage by means of axial fixation and circumferential limiting, such that the vehicle arm and the fuselage are detachable, and the concentration of stress in a connecting position of the vehicle arm and the fuselage is effectively reduced, thereby meeting the need for structural strength of the vehicle arm.

Description

multi-rotor unmanned aerial vehicle

technical field

The present application relates to the technical field of aircraft, and in particular, to a multi-rotor unmanned aerial vehicle.

Background technique

With the continuous development of science and technology, multi-rotor UAVs have been widely used in various fields.

The traditional multi-rotor UAV arm structure can be divided into an integral arm that is not detachable from the fuselage structure and a detachable arm that can be detached from the fuselage structure. The integral arm can be integrated with the fuselage, and the overall structural strength is high, but the disassembly and repair after damage is expensive. The detachable arm and the fuselage can be directly and quickly disassembled and assembled. In order to meet the convenience of disassembly and assembly, there are generally problems of stress concentration and low connection strength at the connection position between the arm and the fuselage. It is cumbersome to replace the arm.

SUMMARY OF THE INVENTION

In view of the above problems, the present application is made in order to provide a multi-rotor unmanned aerial vehicle that solves the above problems.

In one embodiment of the present application, a multi-rotor unmanned aerial vehicle is provided, comprising:

an arm, one end of the arm in the length direction is provided with a connecting part on its end face, and the other end is provided with a rotor device for providing flying power;

a fuselage, the fuselage is provided with a circumferential limit structure; and

a fastener for mechanically coupling and connecting the arm and the fuselage;

Wherein, the circumferential limiting structure is connected with the end of the arm provided with the connecting portion, so as to limit the movement of the arm along the circumferential direction;

The fastener is connected with the connecting portion along the length direction of the machine arm, so as to fix the machine arm on the fuselage, so as to limit the movement of the machine arm along the length direction of the machine arm .

In the technical solutions provided by the embodiments of the present application, the connection between the arm and the fuselage is realized by means of axial fixation and circumferential limit, which can effectively reduce the number of arms and the fuselage while realizing the detachment of the arm and the fuselage. The stress concentration at the connection position meets the structural strength requirements of the arm.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic diagram of the exploded structure of a multi-rotor unmanned aerial vehicle provided by an embodiment of the application;

2 is a schematic perspective view of a partially exploded structure of a multi-rotor unmanned aerial vehicle provided by an embodiment of the application;

3 is a schematic diagram of a stress direction of a machine arm provided by an embodiment of the application;

FIG. 4 is a schematic diagram of another partial exploded structure of a multi-rotor unmanned aerial vehicle provided by an embodiment of the present application.

Detailed ways

In order to make those skilled in the art better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

It should be noted that, in the description of this application, the terms "first" and "second" are only used to facilitate the description of different components, and should not be understood as indicating or implying a sequence relationship, relative importance, or implicitly indicating indicated the number of technical characteristics. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are for the purpose of describing specific embodiments only, and are not intended to limit the application.

In practicing the embodiments of the present application, the applicant found that in the existing multi-rotor UAV, the connection methods between the arms and the fuselage are roughly divided into two types. One is that the arms and the fuselage are not detachable, that is, The fuselage and the arm are an integral structure. Under this structure, the overall structural strength of the arm and the fuselage is high, but the arm cannot be removed from the fuselage, and the disassembly and maintenance costs after the arm is damaged are high.

The other is that the arm is detachable from the fuselage. However, there are generally problems of stress concentration and low connection strength at the connection position between the arm and the fuselage. The defect in strength is relatively obvious, and when the arm is replaced more complicated.

In view of the above problems, one of the embodiments of the present application provides a multi-rotor unmanned aerial vehicle, which can meet the structural strength requirements of the arms while realizing the detachment of the arms and the fuselage.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. The embodiments described below and features in the embodiments may be combined with each other without conflict. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of this application.

1 is a schematic diagram of an exploded structure of a multi-rotor unmanned aerial vehicle provided by an embodiment of the application, and FIG. 2 is a schematic perspective view of a partial exploded structure of a multi-rotor unmanned aerial vehicle provided by an embodiment of the application. Refer to FIG. 1 and FIG. 2 . Show.

In one embodiment of the present application, a multi-rotor unmanned aerial vehicle is provided, including: an arm 20 , a fuselage 10 and a fastener 22 .

One end of the arm 20 in the length direction is provided with a connecting portion 21 on its end surface, and the other end is provided with a rotor device 40 for providing flying power. The body 10 is provided with a circumferential limiting structure 11 . Also, the fasteners 22 are used to mechanically couple the arms 20 to the fuselage 10 .

The circumferential limiting structure 11 is connected to the end of the arm 20 provided with the connecting portion 21 to limit the movement of the arm 20 in the circumferential direction. The fastener 22 is connected with the connecting portion 21 along the length direction of the machine arm 20 to fix the machine arm 20 on the fuselage 10 to limit the movement of the machine arm 20 along the length direction of the machine arm 20 .

The technical solutions provided in the embodiments of the present application can realize the connection between the arm 20 and the fuselage 10 in the manner of axial fixation and circumferential limit through the connecting portion 21 , the circumferential limiting structure 11 and the fastener 22 , While simplifying the connection method, the arm 20 and the fuselage 10 can be detachable, and the stress concentration at the connection position of the arm 20 and the fuselage 10 can be effectively reduced to meet the structural strength requirements of the arm 20 . While obtaining the structural strength similar to the fuselage 10-arm 20 integrated arm, it also has the advantages of easy disassembly, maintenance and replacement of the detachable arm.

The technical solutions provided by the embodiments of the present application are further introduced below.

Referring to FIG. 3 , in the embodiment of the present application, the vector load borne by the arm 20 is along the axial direction of the arm 20 (the axial direction described in the embodiment of the present application refers to the length direction of the arm 20 ) and the vertical direction of the arm 20 . It can be decomposed into axial load F1, normal bending load F2 and circumferential torsional load M1. Among them, the axial load F1 can be divided into an axial compression load (direction pointing to the fuselage 10, that is, the direction indicated by the arrow of F1 in FIG. 3) and an axial tensile load (direction away from the fuselage 10, ie In Figure 3, the arrow of F1 points to the opposite direction), according to the actual use scenario and the structure of the multi-rotor UAV, in most scenarios, the axial load is mostly an axial compression load, and in a few cases, the axial load occurs. At this time, the axial tensile load is decomposed into the normal bending load F2. Therefore, in the event of a collision and crash of the multi-rotor UAV, the axial compression load and the normal bending load F2 are the main loads of the arm 20, and the force load is far greater than the complex axial stretching and circumferential torsion. Load M1.

The arm 20 is used as the main load bearing structure. Fasteners 22 are used between the connecting portion 21 and the fuselage 10 to realize the fixing along the axial direction of the arm 20 (ie, the length direction of the arm 20). The action of tensioning the arm 20 and the fuselage 10 and bearing the axial tensile load at the same time ensures the effective conduction path of the axial load F1. At the same time, the arm 20 and the circumferential limit structure 11 on the fuselage 10 are fixed in the circumferential direction, ensuring an effective conduction path for the normal bending load F2 and the circumferential torsional load M1. Therefore, through the connecting portion 21 , the circumferential limiting structure 11 and the fastener 22 , the connection between the arm 20 and the fuselage 10 can be realized by means of axial fixing and circumferential limiting, which effectively reduces the stress concentration. situation happens.

In the embodiment of the present application, the corresponding number of circumferential limiting structures 11 can be set on the body 10 according to the number of arms 20 to be provided. According to different requirements, the circumferential limiting structure 11 can be realized in various ways, and correspondingly, the end of the machine arm 20 connected to the circumferential limiting structure 11 can also be realized in various ways.

Referring to FIG. 2 , one possible implementation of the circumferential limiting structure 11 is that the circumferential limiting structure 11 is an insertion slot provided on the fuselage 10 . The end of the arm 20 provided with the connecting portion 21 can extend into the insertion slot, and the outer wall of the arm 20 abuts against the inner wall of the insertion slot. The circumferential contour of the inner wall of the insertion slot matches the circumferential contour of the outer wall of the end of the arm 20 provided with the connecting portion 21 , that is, the insertion slot and one end of the arm 20 are fitted and fixed by circumferential copying. Further, in order to ensure the effective conduction path of the normal bending load and the circumferential torsional load, and at the same time, in order to improve the connection stability between the arm 20 and the insertion slot, the arm 20 and the insertion slot are connected by an interference fit. .

Another possible implementation of the circumferential limiting structure 11 is that the circumferential limiting structure 11 is a plug-in protrusion provided on the body 10 . A connecting groove is provided on the end surface of the end of the arm 20 where the connecting portion 21 is provided. The plug-in protrusion can extend into the connection groove, and the outer wall of the plug-in protrusion abuts against the inner wall of the connection groove. The circumferential contour of the inner wall of the connecting groove matches the circumferential contour of the outer wall of the plug-in protrusion, that is, the connection groove and the plug-in protrusion are fitted and fixed by circumferential copying. Further, in order to ensure the effective conduction path of normal bending load and circumferential torsional load, and at the same time, in order to improve the connection stability of the machine arm 20 and the connection groove, the connection between the plug protrusion and the connection groove is an interference fit connection.

Of course, it should be noted that the circumferential limiting structure 11 can be implemented as the present application as long as it is connected to the machine arm 20 and can limit the relative movement of the machine arm 20 in the circumferential direction in addition to the above-mentioned implementations. The circumferential limiting structure 11 in the example and the circumferential limiting structure 11 realized by other various methods will not be described in detail here, which does not mean that they are no longer within the protection scope of the embodiments of the present application.

In the embodiment of the present application, according to different requirements, the connecting portion 21 can be realized in various ways, and correspondingly, the fastener 22 that cooperates with the connecting portion 21 to realize the axial connection can also be realized in various ways.

Continuing to refer to FIG. 2 , an implementation manner of the connecting portion 21 is that the connecting portion 21 is at least one connecting hole. Through holes 12 are respectively provided at positions corresponding to each connection hole on the body 10 . The fastener 22 is a screw, and the screw passes through the through hole 12 along the length direction of the machine arm 20 and is connected with the connecting hole. The axial direction of the connection hole is the same as the length direction of the machine arm 20. When the screw passes through the through hole 12 and is connected to the connection hole, the extension direction of the screw is the same as the length direction of the machine arm 20, which is used to tighten the machine arm 20 and the fuselage. The effect of 10, while bearing the axial tensile load, ensures the effective conduction path of the axial load and reduces the occurrence of stress concentration. When the body 10 is provided with an insertion slot, the through hole 12 can be disposed at the bottom of the insertion slot, and when the body 10 is provided with an insertion protrusion, the through hole 12 can penetrate through the insertion protrusion. When the arm 20 is provided with a connecting slot, the connecting hole can be arranged at the bottom of the connecting slot.

Further, in order to ensure that the connection hole can achieve multiple disassembly and assembly performance, an implementation manner of the connection hole is that the connection hole is a threaded hole with an internal thread, and the fastener 22 is threadedly connected to the threaded hole. The connecting hole has a mechanical internal thread, and the fastener 22 is provided with a matching external thread. After the fastener 22 passes through the through hole 12, it can be screwed into the connecting hole, thereby connecting the arm 20 to the fuselage. 10 Make a fixed connection. Of course, in order to make the connection more secure, the through hole 12 on the body 10 is also a threaded hole matched with the fastener 22 .

In order to further ensure that the connection hole can achieve multiple disassembly and assembly performance, referring to FIG. 4 , a connection nut 221 is provided in the connection hole, and the screw hole of the connection nut 221 is used as at least a part of the connection hole. The connecting nut 221 is screwed with the fastener 22 . The connection strength between the connection hole and the fastener 22 can be improved by the connection nut 221, and the connection strength can still be maintained even after multiple disassembly and assembly, so that the connection between the connection hole and the fastener 22 is stable. The connection nut 221 can improve the structural strength of the connection hole, and prevent the fastener 22 from pulling the connection hole and deforming due to excessive axial load, which affects the connection strength between the connection hole and the fastener 22 .

Along the axial direction, the length of the connection nut 221 is the same as the depth of the connection hole, that is, the screw hole of the connection nut 221 is used as the connection hole, and the fastener 22 is only connected to the connection nut 221 . Alternatively, along the axial direction, the length of the connecting nut 221 is less than the depth of the connecting hole, that is, the screw hole of the connecting nut 221 is used as a part of the connecting hole, and the fastener 22 is connected to the connecting nut 221 and part of the connecting hole at the same time. In this way, the connection nut 221 can be relatively arranged at the orifice position of the connection hole toward the fuselage 10 direction according to different requirements, or at the middle position of the connection hole, or at other positions relative to the connection hole. location.

In the embodiment of the present application, the connecting nut 221 includes, but is not limited to, a hexagonal nut, and is installed on the machine arm 20 by one of the methods of profiling, injection molding, hot-melting and riveting. The outer edge of the connecting nut 221 can be firmly connected to the arm 20, and the side wall of the arm 20 that cooperates with the connecting nut 221 can bear the tensile load, so as to avoid the excessive axial load causing the connecting nut 221 to be moved along the axial direction. Pull out in the direction.

In addition to the above-mentioned implementation manners of the connecting portion 21 , another possible implementation manner of the connecting portion 21 is that the connecting portion 21 is at least one connecting screw, and the length direction of the connecting screw is consistent with the length direction of the arm 20 . Through holes 12 are respectively provided on the body 10 at positions corresponding to each connecting screw. The fastener 22 is a fixing nut, and the connecting screw penetrates the through hole 12 along the length direction and is connected with the fixing nut. The connecting screw and the fixing nut cooperate to realize the connection between the arm 20 and the fuselage 10. The connecting screw plays the role of tightening the arm 20 and the fuselage 10, and at the same time bears the axial tensile load, ensuring the effective conduction path of the axial load. , reduce the occurrence of stress concentration. Even after the disassembly and assembly between the connecting screw and the fixing nut, the connection strength can still be maintained, so that the connection between the connecting screw and the fastener 22 is stable.

The connecting screw can be installed on the machine arm 20 by one of the methods of profiling, injection molding, hot-melting and riveting. Further, in order to make the connection between the connecting screw and the machine arm 20 more stable, one end of the connecting screw can be provided with a nut, and the connecting screw is connected with the machine arm 20 through the nut, and the nut can be a hexagonal nut. The outer edge of the machine arm 20 can be firmly connected to the arm 20, and the side wall of the machine arm 20 matched with the connecting screw can bear the tensile load, so as to prevent the connecting screw from being pulled out along the axial direction due to excessive axial load.

In the embodiment of the present application, in order to limit the movement of the arm 20 in the circumferential direction, referring to FIG. 2 and FIG. 4 , an implementation method is that along the circumferential direction of the arm 20 , the circumferential limiting structure 11 is non-rotating. body structure. At least one end of the arm 20 provided with the connecting portion 21 is a non-rotating body structure matched with the circumferential limiting structure 11 . After the arm 20 is connected to the circumferential limiting structure 11 , since both of them are non-rotational structures along the circumferential direction of the arm 20 , they can restrict each other to avoid relative circumferential rotation of the two. For example, the circumferential limiting structure 11 is an insertion slot, and along the circumferential direction of the machine arm 20 , the circumferential contour of the insertion slot is elliptical. Correspondingly, at least one end of the arm 20 extending into the insertion slot is also a matching oval shape. When the machine arm 20 is inserted into the insertion slot, the rotation between the machine arm 20 and the insertion slot cannot occur in the circumferential direction, which ensures the effective conduction path of the normal bending load and the circumferential torsional load, and effectively reduces the Stress concentration occurs. Of course, the part of the arm 20 other than the one end provided with the connecting portion 21 may be a non-rotating body structure or a rotating body structure.

Continuing to refer to FIG. 4 , in the embodiment of the present application, an implementable manner of the machine arm 20 is that the machine arm 20 includes a machine arm main body 23 and a machine arm connecting member 24 . The arm body 23 has an installation cavity 231 extending in the longitudinal direction. The arm connecting member 24 includes an arm coupling portion 241 and a body coupling portion 242 along the length direction. The arm coupling portion 241 extends into the installation cavity 231 and is connected to the arm main body 23, and the body coupling portion 242 is far away from the machine. One end of the arm coupling portion 241 is provided with the connecting portion 21 on the end surface thereof, and is connected with the circumferential limiting structure 11 .

The circumferential contour of the inner wall of the mounting cavity 231 matches the circumferential contour of the outer wall of the arm coupling portion 241 , that is, the mounting cavity 231 and the arm coupling portion 241 are fixed in a circumferential profiling fit, and the outer wall of the arm 20 and the mounting cavity 231 are fixed. The inner wall abuts. Further, in order to ensure the effective conduction path of the normal bending load and the circumferential torsional load, and at the same time, in order to improve the connection stability between the arm coupling part 241 and the installation cavity 231, the connection between the arm coupling part 241 and the installation cavity 231 is Interference fit connection. In order to limit the circumferential movement between the arm connecting member 24 and the arm main body 23 , the circumferential outer contour of the arm coupling portion 241 and the circumferential inner contour of the mounting cavity 231 are non-rotational structures that cooperate with each other.

The body coupling portion 242 is provided with the connecting portion 21. For example, when the circumferential limiting structure 11 is an insertion slot, the body coupling portion 242 can extend into the insertion slot, and the outer wall of the body coupling portion 242 is connected to the insertion slot. The inner wall of the insertion slot abuts, and the peripheral contour of the inner wall of the insertion slot matches the peripheral contour of the outer wall of the fuselage coupling portion 242 , that is, the insertion slot and the fuselage coupling portion 242 are fitted and fixed by circumferential profiling. For another example, the circumferential limiting structure 11 is an insertion protrusion. The body coupling portion 242 is provided with a connecting groove. The plug-in protrusion can extend into the connection groove, and the outer wall of the plug-in protrusion abuts against the inner wall of the connection groove.

Further, referring to FIG. 2 and FIG. 4 , the outer contour of the cross-section of the arm body 23 in the circumferential direction is an annular structure. The arm main body 23 with annular structure can improve the performance of bearing normal bending load and circumferential torsional load, can effectively ensure the effective bearing area of the cross section of the arm main body 23 and effectively avoid stress concentration.

Further, an achievable connection manner of the arm coupling portion 241 and the installation cavity 231 is that the peripheral outer surface of the arm coupling portion 241 is bonded to the inner wall of the installation cavity 231 . For example, the outer peripheral surface of the arm coupling portion 241 is provided with an adhesive layer, which is connected to the installation cavity 231 by means of an annular area glue, so that the arm main body 23 and the arm connecting member 24 are formed into an integral structure, avoiding the use of screws. Stress concentration problems caused by fixing and other methods.

In order to further improve the convenience of disassembly and assembly between the body coupling portion 242 and the circumferential limiting structure 11, referring to FIG. 2 and FIG. The connecting ribs 243 are distributed at intervals, and the connecting ribs 243 are connected with the circumferential limiting structure 11 . For example, when the circumferential limiting structure 11 is an insertion slot, a connecting rib 243 is provided on the circumferential outer surface of the body coupling portion 242 . For example, when the circumferential limiting structure 11 is a plug protrusion, the inner surface of the connecting groove on the body coupling portion 242 is provided with a connecting rib 243 . Through the connecting ribs 243 , the contact area between the body coupling portion 242 and the circumferential limiting structure 11 is reduced, the frictional resistance is reduced, and the tight connection between the body coupling portion 242 and the circumferential limiting structure 11 is ensured. On the premise of solidity and robustness, the convenience and assembling feasibility of the fuselage coupling portion 242 and the circumferential limiting structure 11 are facilitated.

With reference to FIG. 2 , referring to FIG. 4 , in the embodiment of the present application, the multi-rotor unmanned aerial vehicle further includes a power cable 30 . The arm body 23 is provided with a power connection structure 25 for electrically connecting the rotor device 40 at one end away from the fuselage 10 . The arm connecting member 24 has a wire passage hole 244 for connecting the wire passage and the outside. One end of the power cable 30 is connected to the power connection structure 25 , and the other end passes through the wire passage and passes through the wire passage hole 244 . The power cable 30 is a connection cable of the rotor device 40 and is disposed inside the arm 20 . The power cable 30 can be electrically connected to the power connection structure 25 and the fuselage 10 through the wire passage and the wire hole 244 respectively. The power cable 30 is routed inside the arm 20. While the arm 20 is protected by the power cable 30, it can ensure that the power cable 30 cannot be seen from the outside of the multi-rotor UAV, and avoid the power cable 30 increasing the flight resistance. , and make the appearance of the multi-rotor unmanned aerial vehicle more beautiful.

An implementation of the power connection structure 25 is that the power connection structure 25 includes a main body seat and a threaded rod disposed on the main body seat, and the main body seat has an electrical connection portion. The main body base can be connected to the arm 20 by screws, connected to the rotor device 40 through a threaded rod, and electrically connected to the rotor device 40 through the electrical part. Of course, it can also be electrically connected to the rotor device 40 through a threaded rod. Both ends of the power cable 30 are provided with quick connectors 31 , and the power cable 30 is respectively connected to the electrical connection part and the fuselage 10 through the quick connectors 31 at both ends, so as to transmit the power and control signals to the rotor device 40 . At the same time, the power cable 30 passes through the quick connector 31, which facilitates the rapid electrical connection and disconnection with the body 10 when the arm 20 is disassembled and assembles, and also facilitates the connection between the power cable 30 and the power connection structure 25. and unwrap.

In order to facilitate the connection between the power cable 30 and the fuselage 10 , referring to FIGS. 2 and 4 , the circumferential limiting structure 11 is provided with a wire outlet hole 13 , and the power cable 30 can pass through the wire outlet hole 13 . By arranging the wire outlet hole 13 , the circumferential limiting structure 11 can prevent the power cable 30 from being obstructed, and the electrical connection and disconnection of the power cable 30 and the body 10 is facilitated.

Further, the main body 23 of the arm is a tubular structure, and from the direction away from the fuselage 10 to the fuselage 10 , the inner cavity of the tubular structure is provided with an installation cavity 231 and a wire passage. The power connecting structure 25 and the arm connecting member 24 are respectively connected to the openings at both ends of the tubular structure. The tubular structure of the arm body 23 can improve the performance of bearing normal bending loads and circumferential torsional loads, effectively ensure the effective bearing area of the cross section of the arm body 23 and effectively avoid stress concentration. At the same time, the connection structure of the main body 23 of the machine arm is simplified, the installation cavity 231 and the wire passage are formed through the inner cavity of the tubular structure, and no external processing is required, which reduces the manufacturing process, facilitates production, and reduces the manufacturing cost. At the same time, the tubular structure of the arm body 23 can effectively reduce the weight of the arm 20, which reduces the weight of the multi-rotor UAV as a whole, reduces the energy consumption during flight, and improves the endurance of the multi-rotor UAV.

Referring to FIG. 4 , in the embodiment of the present application, an implementable manner of the rotor device 40 is that the rotor device 40 includes a motor 41 and a propeller 42 connected to the driving end of the motor 41 . The motor 41 is electrically connected to the power connection structure 25 . The motor 41 and the power connection structure 25 are detachably connected. When the rotor device 40 fails, the rotor device 40 can be detached from the power connection structure 25 for maintenance or replacement. When replacing the machine arm 20 , the rotor device 40 can be detached from the power connection structure 25 and replaced with another machine arm 20 . After the rotor device 40 is connected with the power connection structure 25, the power connection structure 25 outputs the electric energy and control signal for the motor 41 to operate, controls the motor 41 to work, and the motor 41 drives the propeller 42 to rotate, thereby realizing the flight of the multi-rotor UAV.

The following describes the disassembly and assembly process of the machine arm 20 in the embodiment of the present application.

1, taking the example shown in FIG. 2 as an example, the process of disassembling the arm 20 from the fuselage 10:

First, unfasten the quick connector 31 at one end of the power cable 30 on the body 10 from the body 10;

Next, along the length direction of the machine arm 20, unscrew the screw (fastener 22);

Then, along the longitudinal direction of the machine arm 20 , the whole machine arm 20 is pulled out from the insertion slot on the body 10 to complete the disassembly of the machine arm 20 .

In conjunction with FIG. 1, taking the example shown in FIG. 2 as an example, the process of assembling the machine arm 20 on the fuselage 10:

First, along the length direction of the arm 20, insert the end of the arm 20 with the connection hole into the insertion slot on the fuselage 10, and pass one end of the power cable 30 through the outlet hole 13;

Next, along the length direction of the machine arm 20, pass the screw (fastener 22) through the through hole 12 on the body 10, and connect the screw with the connecting hole;

Then, the quick connector 31 at one end of the power cable 30 is connected to the body 10 to complete the assembly of the arm 20 .

To sum up, the technical solutions provided by the embodiments of the present application can realize the connection between the arm and the fuselage in the manner of axial fixation and circumferential limit through the connecting portion, the circumferential limit structure and the fastener. While simplifying the connection method, the arm and the fuselage can be disassembled, and the stress concentration at the connection position of the arm and the fuselage can be effectively reduced, so as to meet the structural strength requirements of the arm. While obtaining the structural strength similar to the fuselage-arm integrated arm, it also has the advantages of easy disassembly, maintenance and replacement of the detachable arm.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present application.

Claims

A multi-rotor unmanned aerial vehicle, comprising:

an arm, one end of the arm in the length direction is provided with a connecting part on its end face, and the other end is provided with a rotor device for providing flying power;

a fuselage, the fuselage is provided with a circumferential limit structure; and

a fastener for mechanically coupling and connecting the arm and the fuselage;

Wherein, the circumferential limiting structure is connected with the end of the arm provided with the connecting portion, so as to limit the movement of the arm along the circumferential direction;

The fastener is connected with the connecting portion along the length direction of the machine arm, so as to fix the machine arm on the fuselage, so as to limit the movement of the machine arm along the length direction of the machine arm .
The multi-rotor unmanned aerial vehicle according to claim 1, wherein the circumferential limit structure is a plug slot provided on the fuselage;

The end of the arm provided with the connecting portion can extend into the insertion slot, and the outer wall of the arm is in contact with the inner wall of the insertion slot.
The multi-rotor unmanned aerial vehicle according to claim 1, wherein the circumferential limiting structure is a plug-in protrusion provided on the fuselage;

A connecting groove is provided on the end face of the end of the arm provided with the connecting portion;

The plug-in protrusion can extend into the connection groove, and the outer wall of the plug-in protrusion abuts against the inner wall of the connection groove.
The multi-rotor unmanned aerial vehicle according to claim 1, wherein the connecting portion is at least one connecting hole;

Through holes are respectively provided on the fuselage at positions corresponding to each of the connection holes;

The fastener is a screw, and the screw passes through the through hole along the length direction of the machine arm and is connected with the connecting hole.
The multi-rotor unmanned aerial vehicle according to claim 4, wherein the connection hole is a threaded hole with an internal thread, and the fastener is threadedly connected to the threaded hole.
The multi-rotor unmanned aerial vehicle according to claim 4, wherein a connecting nut is provided in the connecting hole, and the screw hole of the connecting nut is used as at least a part of the connecting hole;

The connection nut is screwed with the fastener.
multi-rotor unmanned aerial vehicle according to claim 6, is characterized in that, described connection nut is hexagonal nut, and is installed on described machine arm by a mode in profile assembly, injection molding, hot melt and riveting.
The multi-rotor unmanned aerial vehicle according to claim 1, wherein the connecting portion is at least one connecting screw, and the length direction of the connecting screw is consistent with the length direction of the arm;

Through holes are respectively provided on the fuselage at positions corresponding to each of the connecting screws;

The fastener is a fixing nut, and the connecting screw rod passes through the through hole along the length direction and is connected with the fixing nut.
The multi-rotor unmanned aerial vehicle according to any one of claims 1 to 8, wherein, along the circumferential direction of the arm, the circumferential limiting structure is a non-rotating body structure;

At least one end of the arm provided with the connecting portion is a non-rotating body structure matched with the circumferential limiting structure.
The multi-rotor unmanned aerial vehicle according to any one of claims 1 to 8, wherein the arm comprises an arm body and an arm connector;

the arm body has an installation cavity extending along the length direction;

The arm connector includes an arm coupling part and a body coupling part along the length direction, the arm coupling part extends into the installation cavity and is connected to the arm main body, and the body is coupled One end of the portion away from the arm coupling portion is provided with the connecting portion on the end surface thereof, and is connected with the circumferential limiting structure.
The multi-rotor unmanned aerial vehicle according to claim 10, wherein the outer contour of the cross section of the arm body along the circumferential direction is an annular structure.
The multi-rotor unmanned aerial vehicle according to claim 10, wherein the peripheral outer surface of the arm coupling portion is bonded to the inner wall of the installation cavity.
The multi-rotor unmanned aerial vehicle according to claim 10, wherein the position where the fuselage coupling part is connected to the circumferential limiting structure has a plurality of connecting ribs distributed at intervals, and the connecting ribs are connected to The circumferential limit structure is connected.
The multi-rotor unmanned aerial vehicle of claim 10, further comprising a power cable;

One end of the main body of the arm away from the fuselage is provided with a power connection structure for electrically connecting the rotor device, and the main body of the arm has a wire passage connecting the power connection structure and the arm connecting piece. ;

The arm connecting piece is provided with a wire passage hole connecting the wire passage channel and the outside;

One end of the power cable is connected to the power connection structure, and the other end passes through the wire passage and passes through the wire passage hole.
The multi-rotor unmanned aerial vehicle according to claim 14, wherein a wire outlet hole is provided on the circumferential limit structure, and the power cable can pass through the wire outlet hole.
The multi-rotor unmanned aerial vehicle according to claim 14, wherein the main body of the arm is a tubular structure, and from the fuselage to the direction away from the fuselage, the inner cavity of the tubular structure is provided with the the installation cavity and the wire passage;

The power connecting structure and the arm connecting piece are respectively connected to the openings at both ends of the tubular structure.
The multi-rotor unmanned aerial vehicle according to claim 14, wherein the rotor device comprises a motor and a propeller connected to a driving end of the motor;

The motor is electrically connected to the power connection structure.