CN106564581A - Rack of multi-rotor-ring unmanned aerial vehicle - Google Patents

Rack of multi-rotor-ring unmanned aerial vehicle Download PDF

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Publication number
CN106564581A
CN106564581A CN201610936337.2A CN201610936337A CN106564581A CN 106564581 A CN106564581 A CN 106564581A CN 201610936337 A CN201610936337 A CN 201610936337A CN 106564581 A CN106564581 A CN 106564581A
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China
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arm
machine
plurality
rack
arms
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CN201610936337.2A
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Chinese (zh)
Inventor
彭兴林
赵磊
柴峻
彭国标
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顺丰科技有限公司
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Priority to CN201610936337.2A priority Critical patent/CN106564581A/en
Publication of CN106564581A publication Critical patent/CN106564581A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C1/00Fuselages; Constructional features common to fuselages, wings, stabilising surfaces and the like
    • B64C1/06Frames; Stringers; Longerons ; Fuselage sections
    • B64C1/061Frames

Abstract

The invention discloses a rack of a multi-rotor-ring unmanned aerial vehicle. The rack comprises a center piece, a plurality of arm sets and a plurality of pairs of motor seats. The center piece comprises a polygonal disc and a plurality of pipe clamps integrally formed with the polygonal disc. The polygonal disc comprises an internally-hollow cavity. Each arm set comprises at least two first arms and a second arm connected to one ends of the at least two first arms, the first arms and the second arms are each of a pipe-shaped structure, and the other ends of the at least two first arms in each arm set are inserted into the corresponding pipe clamps. Each pair of motor seats is fixed to the two ends of the corresponding second arm correspondingly, and the motor seats are used for fixing a motor of the multi-rotor-ring unmanned aerial vehicle. According to the rack, the layout form of combining the center piece and the multiple arm sets is adopted, the structural size of the arms is reasonably set, the rack has the remarkable weight reduction effect while meeting the whole body vibration mode, and the rack is easy to demount, mount and maintain, high in reliability and suitable for batched production.

Description

一种多旋翼无人机的机架 A multi-rotor UAV rack

技术领域 FIELD

[0001] 本发明涉及无人机技术领域,尤其涉及一种多旋翼无人机的机架。 [0001] Technical Field The present invention relates to unmanned aerial vehicles, UAV rotor in particular, relates to a multi-frame.

背景技术 Background technique

[0002]多旋翼无人机主要包括多个电机和螺旋桨、飞行控制装置和载重仓,并通过机架连接起来。 [0002] UAV includes a plurality of multi-rotor motors and propellers, flight controls and heavily loaded carrier, and connected by the rack. 多旋翼无人机可以广泛应用于空中定点监视、监控、拍摄、环保监测、野外科考、案件侦查、城市管理、庭院安防,车辆防盗、快递运送等领域。 Multi-rotor UAV can be widely used in air sentinel surveillance, monitoring, recording, environmental monitoring, field field expedition, case investigation, urban management, courtyard security, vehicle theft, express delivery and so on.

[0003]目前多旋翼无人机的机架有几种结构模式:一是采用注塑件整体结构,适合大批量生产、且小型轻载的无人机;二是复合材料一体成型结构,一般采用手工制造,生产效率慢,且产品质量难以重现,产品可靠性难以控制;三是板杆组合结构,零部件多,组装复杂,且不易维护,结构可靠性低。 [0003] At present, many UAV rotor frame structure has several modes: first unitary structure using injection molding, suitable for mass production, and a compact and lightweight UAV carrier; second integrally molded composite structure, generally used handmade, slow production efficiency, and product quality is difficult to reproduce, product reliability is difficult to control; three pole a plate composite structure, multiple parts, complicated to assemble, and difficult maintenance, low structural reliability. 如果能将以上几种机架结构模式的优点集合起来设计无人机的机架,将大大改善无人机的整体结构的机械性能,甚至提高无人机的飞行品质。 If you can frame structure several advantages over the set up mode UAV rack design, will greatly improve the mechanical properties of the overall structure of the drone, and even improve the quality of UAV flight.

发明内容 SUMMARY

[0004] 鉴于现有技术中存在的上述缺陷或不足,本发明提供了一种多旋翼无人机的机架,其至少能够提高多旋翼无人机机架的可靠性。 [0004] In view of the above disadvantages or deficiencies of the prior art, the present invention provides a multi-rotor UAV rack, at least improve the reliability of the multi-rotor UAV chassis.

[0005] 根据本发明的一方面,提供了一种多旋翼无人机的机架,所述机架包括:中心件,其包括一个多边形盘及与所述多边形盘一体成型的多个管夹,所述多边形盘包括内部中空的腔体;多组机臂,每组所述机臂包括至少两个第一机臂和连接于所述至少两个第一机臂的一端的第二机臂,所述第一机臂和第二机臂均设置为管状结构,并且所述至少两个第一机臂的另一端插入所述管夹中;以及多对电机座,每对所述电机座分别固定在所述第二机臂的两端,用于固定多旋翼无人机的电机。 [0005] According to an aspect of the present invention, there is provided a multi-rotor UAV frame, said frame comprising: a center member, which comprises a polygon and the polygonal plates of a plurality of integrally molded pipe clamp the tray comprises a polygonal hollow interior cavity; plurality of sets of the machine arm, each arm of the machine includes at least two arms and the first machine is connected to the first end of the at least two second machine arm machine arm , the first arm and the second machine unit arms are set to the tubular structure, and the other end of the at least two of the first machine is inserted into the tube clamp arm; and a plurality of motor base, said motor base per are respectively fixed to both ends of the second arm of the machine, for fixing the multi-rotor motor UAV.

[0006] 优选地,所述管夹对应于所述多边形盘的多个边交替设置,所述管夹设置为对应于所述至少两个第一机臂的另一端的间距的至少两个圆管。 [0006] Preferably, the tube clamp corresponding to the plurality of sides of the polygonal plate are alternately disposed, the pipe clamp is provided to correspond to at least two pitches of the other end of the first arm of the machine at least two circles tube.

[0007] 优选地,所述至少两个第一机臂的一端分别通过T型连接件与所述第二机臂连接,所述T型连接件包括:一对第一连接件,对称布置,其中所述第一连接件由中心轴线在同一平面内且成一定角度的第一圆弧薄壁和第二圆弧薄壁相交而成为一体,其一端沿第二圆弧薄壁的轴向方向设置有一个缩口,所述缩口能够插入所述第一机臂的内部,而所述第二机臂能够插入由一对第一圆弧薄壁组成的内部空间;和一对第二连接件,所述第二连接件设置为圆弧薄壁,所述一对第二连接件对称地固定在所述一对第一连接件的设置有缩口的一端外侧。 [0007] Preferably, one end of said at least two first arms are connected to the machine via a T-connector and the second machine arm, the T-shaped connecting member comprises: a pair of first connecting member, symmetrically arranged, wherein said first connecting member by a central axis in the same plane and at an angle to the first and second thin wall arc intersecting arcuate thin wall integrally at one end thereof in the axial direction of the thin-walled second arc is provided with a constriction, said constriction to be inserted into the machine first arm and the second arm can be inserted into the interior space of the machine by a pair of first arcuate thin wall thereof; and a pair of second connection member, said second member connected to a thin-walled circular arc, the outer end of the pair of second connecting member fixed to the symmetrically disposed pair of first connecting member has a necking.

[0008] 优选地,所述第一连接件的第一圆弧薄壁的一端向外延伸而形成有第一法兰式连接耳,所述第二连接件的两端分别向外延伸而形成有第二法兰式连接耳,所述第一法兰式连接耳和第二法兰式连接耳分别设置有多个通孔。 [0008] Preferably, the first end of the first arcuate member connected to the thin wall is formed with a first outwardly extending flange engaging lugs extending ends of the second connecting member are respectively formed outwardly a second flange connected to the ear, the ear first connecting flange and the second flange connection lugs are provided with a plurality of through-holes.

[0009] 优选地,所述第一机臂的长度尺寸设置为轴距的0.1〜0.5倍。 [0009] Preferably, the length dimension of the first arm is arranged to machine 0.1~0.5 times the axial distance. 所述至少两个第一机臂的间距设置为轴距的0.1〜0.4倍。 Said at least two pitch of the first set of the machine arm 0.1~0.4 times the axial distance.

[0010] 优选地,所述第二机臂的长度尺寸设置为轴距的0.2〜0.8倍。 [0010] Preferably, the length dimension of the second set of the machine arm is 0.2~0.8 times the axial distance.

[0011] 优选地,所述多边形盘包括对称设置的两个多边形盘半部,所述管夹由两个对称设置的管夹半部组成,所述多个管夹半部设置为沿所述多边形盘半部的外缘向外延伸,所述管夹半部设置为对应于所述至少两个第一机臂的另一端的间距的至少两个半圆管。 [0011] Preferably, the polygonal plate comprises two halves symmetrically arranged polygonal plate, the tube clamp clip half is provided by two symmetrical composition, the plurality of clip half is provided along the disc halves outwardly extending edge of the polygon, the pipe clamp halves disposed to correspond to the pitch of the at least two of the first machine arm the other end of the at least two half-pipe.

[0012] 优选地,所述多组机臂和所述中心件采用连续纤维增强塑料制成。 [0012] Preferably, the plurality of sets of said central arm and the machine parts are made of continuous fiber reinforced plastic.

[0013] 优选地,所述多组机臂的横截面为圆形或者多边形。 [0013] Preferably, the plurality of sets of the cross section of the machine arm is circular or polygonal.

[0014] 本发明的多旋翼无人机的机架采用一个中心件与多组单、双机臂组合的布局形式,并通过合理地设置机臂的结构尺寸,使其在满足整机振动模态的同时具有明显的减重效果,且易于拆装和维护,可靠性高,适用于批量生产。 [0014] The present invention is a multi-rotor UAV frame uses a central member with a plurality of sets of single, dual-arm layout format combinations, and provided reasonable structure size of the machine arm, so that the vibration mode to meet the whole state while having significant weight loss, and easy disassembly and maintenance, high reliability, suitable for mass production.

附图说明 BRIEF DESCRIPTION

[0015] 通过参照以下附图所作的对非限制性实施例的详细描述,本发明的其它特征、目的和优点将会变得更明显。 [0015] detailed description of non-limiting embodiments with reference to the accompanying drawings Other features, objects and advantages of the invention will become more apparent. 其中显示: Which shows:

[0016]图1为根据本发明的实施例的多旋翼无人机的机架的结构示意图。 [0016] FIG. 1 is a schematic diagram of the multi-rack configuration of the rotor of the present invention, the embodiment of the UAV.

[0017]图2为图1所示的机架的T型连接件的结构示意图。 [0017] FIG. 2 is a schematic view of the T-shaped rack connector 1 shown in FIG.

具体实施方式 Detailed ways

[0018]下面结合附图和实施例对本申请作进一步的详细说明。 Drawings and embodiments of the present application will be further described in detail [0018] below in conjunction. 可以理解的是,此处所描述的具体实施例仅仅用于解释相关发明,而非对该发明的限定。 It will be appreciated that the specific embodiments described herein are only relevant for explaining the invention, not limitation of the invention. 另外还需要说明的是,为了便于描述,附图中仅示出了与发明相关的部分。 Also to be noted also that, for convenience of description, the accompanying drawings show only parts related to the invention.

[0019]图1为根据本发明的实施例的多旋翼无人机的机架的结构示意图。 [0019] FIG. 1 is a schematic diagram of the multi-rack configuration of the rotor of the present invention, the embodiment of the UAV. 如图所示,机架100包括中心件10、多组机臂20和多对电机座30。 As shown, the frame 100 includes a 10, 20 and a plurality of sets of pairs of arms machine motor support member 30 center.

[0020]中心件10包括一个多边形盘11及与多边形盘11 一体成型的多个管夹12,多边形盘11包括内部中空的腔体。 [0020] The central member 10 comprises a polygonal disk 11 and a plurality of tubes 11 is integrally formed with a polygonal plate clamp 12, a polygonal disk 11 comprises an internal hollow cavity. 多边形盘11可以设置为正多边形结构,也可以设置为非正多边形结构,优选为前者,即正多边形结构。 Polygon 11 can be set to a regular polygon disk structure may be provided a non-regular polygon configuration, preferably the former, i.e., the structure of a regular polygon. 管夹12对应于多边形盘11的多个边交替设置。 Tube clamp plate 12 corresponding to the plurality of polygonal sides 11 are alternately arranged. 多边形盘11为几边形,其一体成型的管夹12的数量即为该多边形边数的一半。 Polygon-shaped plate 11 is several sides, the number 12 which is integrally formed tube clamp that is half the number of sides of the polygon.

[0021] 每组机臂20包括至少两个第一机臂21和连接于至少两个第一机臂21的一端的第二机臂22,第一机臂21和第二机臂22均设置为管状结构,其横截面可以为圆形或者多边形。 [0021] The arm 20 each includes at least two arms 21 and a first unit connected to one end of at least two of the first arm 21 and a second machine the machine arm 22, a first arm 21 and the second machine unit 22 are disposed arm a tubular structure, the cross section may be circular or polygonal. 本实施例以圆形横截面为例,至少两个第一机臂21可以平行设置,也可以相互成一定角度设置。 In this embodiment, a circular cross-section, for example, at least two first arms machine 21 may be disposed in parallel, it may be disposed at an angle to each other. 至少两个第一机臂21的一端分别通过T型连接件23与第二机臂22连接。 At least two end of the first arm 21 are connected to the machine member 23 and the second unit 22 is connected through a T-arm. 管夹12设置为对应于至少两个第一机臂21的另一端的间距的两个圆管,第一机臂21的另一端分别插入管夹12的两个圆管中。 Pipe clamp 12 is provided to correspond to at least two pitches of the two pipe end of the other arm of the first machine 21, the other end of the first arm unit 21 are inserted into the two pipe clamp pipe 12. 后面将详细描述T型连接件23的结构。 T-connection structure 23 will be described later in detail.

[0022] 机臂20的组数与管夹12的数量对应。 Group Number [0022] The arm 20 corresponds to the number 12 of the pipe clip. 例如,多边形盘11为六边形,那么具有三个管夹12,每个管夹12连接一组机臂20,可以连接三组机臂20。 For example, a polygonal hexagonal plate 11, the clamp 12 has three tubes, each tube clamp arm 12 is connected to a set of machine 20, the machine can be connected to three sets of arms 20. 每组机臂20包括至少两个第一机臂21和连接于至少两个第一机臂21的第二机臂22,第一机臂21优选为两个。 The arm 20 each includes at least two first arms 21 and the machine connected to at least two of the first arm of the second machine unit 21 of the arm 22, the first arm 21 is preferably two machines. 为便于描述,本实施例以每组机臂20包括两个第一机臂21和连接于两个第一机臂21的第二机臂22为例进行描述。 For ease of description, the present embodiment each machine to a first arm 20 comprises two arms 21 and connected to the machine two machines of the first arm 22 second arm unit 21 is described as an example.

[0023] 每对电机座30分别固定在第二机臂22的两端,用于固定多旋翼无人机的电机。 [0023] Each of the motor housing 30 are fixed to both ends of the second arm 22 of the machine, for fixing the multi-rotor motor UAV.

[0024] 为便于组装和拆卸,多边形盘11可以包括对称设置的两个多边形盘半部,管夹12由两个对称设置的管夹半部组成,多个管夹半部设置为沿多边形盘半部的外缘向外延伸,并且管夹半部对应于多边形盘半部的多个边交替设置,管夹半部设置为对应于至少两个第一机臂21的另一端的间距的两个半圆管。 [0024] For ease of assembly and disassembly, a polygonal disc tray 11 may include two halves symmetrical polygons arranged, tube clamp 12 is provided by two clamp halves symmetrical composition, the plurality of clip half is provided along a polygonal plate half of the outer edge extends outwardly and clip half with a flange corresponding to a plurality of alternately arranged half polygon, clip half is provided corresponding to at least two pitches to the other end of the arm 21 of the first two machines a half-pipe.

[0025]中心件10的两个对称设置的多边形盘半部和管夹半部通过紧固件连接为一体,其内部中空的腔体内设置有固定部,用于固定所述多旋翼无人机的控制系统硬件装置。 [0025] The two central member 10 and the polygonal plate halves disposed symmetrically clip half integrally connected by a fastener, disposed within the cavity of the hollow interior thereof with a fixing portion for fixing the multi-rotor UAV the control system hardware apparatus.

[0026]另外,多旋翼无人机的控制系统硬件装置与电机之间的线缆穿过管夹12和多组机臂20的内部进行连接,既美观又不影响无人机的飞行。 [0026] Further, the cable between the hardware device and the motor control system of a multi-rotor UAV 12 passes through the connecting pipe clamp, both without affecting the appearance and internal UAV flight plurality of sets of arms 20 of the machine.

[0027] 为了机架100具有更高的稳定性及更好的平衡性,本实施中的多边形盘半部为正十二边形,以便更容易制造,但是并不限于所述正多边形形状,还可以为正六边形、正八边形或正十六边形等,或者也可以为非正多边形形状,根据具体的应用场合而定。 [0027] To the rack 100 has a higher stability and better balance, the present embodiment in the top half of the polygon is regular dodecagon, for easier manufacture, but not limited to the regular polygonal shape, It may also be a regular hexagon, regular octagonal or regular hexagonal ten, or may be a non-regular polygonal shape, depending on the particular application case.

[0028]下面结合附图详细描述T型连接件23的结构。 [0028] The structure of the T-connector 23 is described in detail in conjunction with the accompanying drawings.

[0029]图2为图1所示的机架的T型连接件的结构示意图。 [0029] FIG. 2 is a schematic view of the T-shaped rack connector 1 shown in FIG. 如图所示,T型连接件23包括:一对第一连接件I,对称布置,其中第一连接件I由中心轴线在同一平面内且成一定角度的第一圆弧薄壁Ia和第二圆弧薄壁Ib相交而成为一体,其一端沿第二圆弧薄壁Ib的轴向方向设置有一个缩口Ic,缩口Ic能够插入第一机臂21的内部,而第二机臂22能够插入由一对第一圆弧薄壁Ia组成的内部空间;和一对第二连接件2,第二连接件2设置为圆弧薄壁,一对第二连接件2对称地固定在一对第一连接件I的设置有缩口Ic的一端外侧。 As shown, T-connector 23 comprises: a pair of first connecting member I, symmetrically disposed, wherein the first member is connected to I by a central axis and in the same plane at an angle to the first and second arcuate thin wall Ia Ib arc intersects two thin wall integrally provided at one end thereof a necking Ic, Ic necking machine can be inserted inside the first arm 21 and the second arm unit in the axial direction of the second arcuate thin wall Ib 22 can be inserted into the interior space formed by the pair of first arcuate thin wall Ia thereof; and a pair of second connecting member 2, the second connecting member 2 is provided a thin-walled circular arc, a pair of second connecting member 2 fixed symmetrically a pair of first connecting member is provided with a necking I outer end of Ic. 第一连接件I的第一圆弧薄壁Ia和第二圆弧薄壁Ib的半径可以相同,也可以不同。 A first arcuate member connected to the first thin wall radius I and Ia second arcuate thin wall (Ib) may be the same or different. 另外,第一连接件I的第一圆弧薄壁Ia与第二圆弧薄壁Ib之间的角度可以设置为10°〜170°,因此,T型连接件23可以将夹角范围在10°〜170°内的相同直径或者不同直径的第一机臂21和第二机臂22连接起来。 Further, the angle between the first arcuate thin wall Ia and Ib a first thin-walled second arcuate member connected to I may be set to 10 ° ~170 °, therefore, T-connector 23 may be an angle in the range 10 the same diameter or different diameters ° ~170 ° in a first plane and the second arm 21 the arm 22 is connected together.

[0030]如图所示,第一连接件I的第一圆弧薄壁Ia的一端向外延伸而形成有第一法兰式连接耳,第二连接件2的两端分别向外延伸而形成有第二法兰式连接耳,第一法兰式连接耳和第二法兰式连接耳分别设置有多个通孔。 [0030] As shown, a first end of the arcuate thin wall Ia I first connecting member is formed with a first outwardly extending flange engaging lugs extending ends of the second connecting member 2 are outwardly a second flange is formed with a connecting lug, a first flange and a second flange engaging lugs engaging lugs are provided with a plurality of through-holes. 第一连接件I上设置有至少3个通孔,其中至少一个通孔用于与第二机臂22连接,至少一个通孔设置在缩口Ic处;第二连接件2上设置有至少2个通孔,其中至少一个通孔用于与第一连接件I连接,至少另一个通孔用于与第一连接件I的缩口Ic处的通孔及第一机臂21连接。 I first connection member at least three through holes, wherein the at least one through-hole connected with the second arm unit 22, the at least one through-hole disposed at the necking Ic; 2 disposed on the second connecting member has at least 2 through-holes, wherein the at least one through-hole for the first connection member I, at least one further through-hole for the first connecting member 21 is connected to the through hole I Ic at the necking machine and the first arm. 第一机臂21和第二机臂22的相应位置处分别设置有贯穿孔,第一连接件1、第二连接件2以及两个机臂之间通过紧固件穿过所述通孔和贯穿孔而相互连接。 The first arm 21 and the machine at the corresponding position of the second arm unit 22 are respectively provided with a through-hole, between a second connection member connected to a first arm member 2 and the two machines by the fastener through the through hole and the through holes are connected to each other. T型连接件23能够满足两个机臂连接的强度与刚度要求,易于安装和拆解,满足飞机长时间和多架次飞行,提高了无人机机臂的可靠性。 T-connector 23 to meet the strength and stiffness requirements of two arms connected to the machine, easy to install and disassemble, and satisfies a long airplane flight sorties, to improve the reliability of the UAV arm.

[0031] 本发明实施例中的多旋翼无人机的机架100采用一个中心件10与多组机臂20的组合式结构,易于拆装和维护,可靠性较高。 [0031] Examples of the multi-rotor rack UAV embodiment of the present invention 100 employs a plurality of sets 10 modular construction machine arm and a central member 20, and easy installation and maintenance, high reliability.

[0032] 下面详细描述每组机臂20的结构尺寸。 [0032] The detailed structure of the machine the size of each arm 20 is described.

[0033]多组机臂20在无人机飞行过程中至少承受着由螺旋桨升力和电机的重力形成的弯曲力矩和扭转力矩,其刚度和强度对飞行品质有重要影响。 [0033] The arm 20 in the plurality of sets of UAV flight bear the bending moment is formed by the lift and gravity of the propeller and the twisting moment of the motor at least, its stiffness and strength have a major impact on the quality of the flight. 第二机臂22的两端连接有电机座30,电机座30的接口用于固定电机,而螺旋桨与电机的输出轴连接。 Machine ends of the second arm 22 is connected to the motor housing 30, an interface for fixing the motor base of the motor 30, the motor output shaft connected to the propeller. 无人机飞行过程中,相对的两个螺旋桨互不干涉。 UAV flight, two opposing propellers noninterference in each other. 因此,螺旋桨的长度尺寸小于等于轴距h,轴距h即为由多个电机座30连接的多个电机输出轴绕中心件1的中心轴线所组成的圆的直径。 Thus, the length dimension of the propeller is less wheelbase h, h is the wheelbase of the plurality of motor output shaft 30 is connected by a plurality of motor base diameter of a circle around the central axis of the central member consisting of 1.

[0034] 本实施例经过试验验证,当多组机臂20的横截面为圆形时,第一机臂21的长度尺寸优选设置为轴距h的0.1〜0.5倍,至少两个第一机臂21的间距优选设置为轴距h的0.1〜0.4倍,第二机臂22的长度尺寸设置为轴距h的0.2〜0.8倍,各机臂管壁的壁厚尺寸设置为 [0034] Examples of the present embodiment by tests, when the cross-section of the plurality of sets of the machine arm 20 is circular, the length dimension of the first arm unit 21 is preferably provided 0.1~0.5 times the axial distance h of at least two of the first machine pitch arm 21 is preferably provided 0.1~0.4 times the axial distance h of the second arm length machine 22 is dimensioned 0.2~0.8 times the axial distance h of each of the machine arm to the wall thickness of the size

0.5mm〜8mm,外径尺寸设置为1mm〜100mm,可以满足整机的振动模态要求。 0.5mm~8mm, an outer diameter sized to 1mm~100mm, vibration modes meet the demand of the machine.

[0035] 另外,多组机臂20和中心件10可以优先采用连续纤维增强塑料制成,例如玻璃纤维增强环氧、碳纤维增强环氧等等。 [0035] Further, multiple sets of arms 20 and the central unit 10 may preferentially employ continuous fiber reinforced plastics such as glass fiber reinforced epoxy, carbon fiber-reinforced epoxy and the like. 采用连接纤维增强塑料时,可以采用模压或RTM工艺制造中心件,采用拉挤、缠绕、搓管等工艺制造机臂,不仅能提高生产效率,并且由于纤维含量高,力学性能优秀,产品制造容易重现,质量稳定性高,并具有明显的减重效果。 When connected using fiber reinforced plastic, molded or RTM process can be used for producing the core member, using pultrusion, winding, rubbing machine arm tube manufacturing process, not only improve productivity, due to the high fiber content, excellent mechanical properties, the product is easy to manufacture reproduce high quality stability, and has a significant weight loss. 多组机臂20和中心件10也可以采用金属材料制成,根据具体的适用场合而定。 The arm 20 and the plurality of sets of the central member 10 may be made of metal material, depending on the particular application of the case may be.

[0036] 本发明实施例中的多旋翼无人机的机架100相对于注塑件更适合大载荷无人机使用,相对于复合材料一体成型的机架,单套模具生产效率由1.5小时左右提高到几分钟,且产品质量重复性好,产品可靠性易于控制,适用于批量生产。 [0036] Examples gantry 100 with a plurality of rotor UAV embodiment of the present invention are better suited for injection molding load UAV, a composite material integrally formed with respect to the frame, a single set of mold production efficiency about 1.5 hours up to a few minutes, and reproducible product quality, product reliability, easy to control, suitable for mass production.

[0037]以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。 Examples and description of the technical principles of the present disclosure use only the preferred embodiments [0037] described above. 本领域技术人员应当理解,本申请中所涉及的发明范围,并不限于上述技术特征的特定组合而成的技术方案,同时也应涵盖在不脱离所述发明构思的情况下,由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。 Those skilled in the art should understand that the scope of the present invention herein involved, is not limited to the particular combinations of the above aspect of the features formed, it should also be covered without departing from the spirit of the invention by the technical features or other technical equivalents solutions formed by any combination. 例如上述特征与本申请中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。 The above features and, for example, disclosed in the present application (without limitation) having technical features similar functionality to replace another aspect formed.

Claims (10)

1.一种多旋翼无人机的机架,其特征在于,所述机架包括: 中心件,其包括一个多边形盘及与所述多边形盘一体成型的多个管夹,所述多边形盘包括内部中空的腔体; 多组机臂,每组所述机臂包括至少两个第一机臂和连接于所述至少两个第一机臂的一端的第二机臂,所述第一机臂和第二机臂均设置为管状结构,并且所述至少两个第一机臂的另一端插入所述管夹中;以及多对电机座,每对所述电机座分别固定在所述第二机臂的两端,用于固定多旋翼无人机的电机。 A multi-rotor UAV frame, wherein said frame comprising: a center member including a plate and a polygon the polygonal plate is integrally formed with a plurality of pipe clamp, comprising a polygonal plate hollow interior cavity; a plurality of sets of the machine arm, each arm of the machine includes at least two arms and the first machine is connected to the first end of the at least two second machine arm machine arm, the first machine the arm and the second arm are set to the tubular structure, and the other end of the at least two of the first machine is inserted into the tube clamp arm; and a plurality of motor base, said motor base are each fixed to the first two ends of the machine arm, for fixing the multi-rotor motor UAV.
2.根据权利要求1所述的机架,其特征在于,所述管夹对应于所述多边形盘的多个边交替设置,所述管夹设置为对应于所述至少两个第一机臂的另一端的间距的至少两个圆管。 2. The chassis according to claim 1, characterized in that the pipe clamp corresponding to the plurality of sides of the polygonal plate are alternately disposed, the pipe clamp is provided to correspond to at least two first arms machine spacing at least two of the other pipe end.
3.根据权利要求1所述的机架,其特征在于,所述至少两个第一机臂的一端分别通过T型连接件与所述第二机臂连接,所述T型连接件包括: 一对第一连接件,对称布置,其中所述第一连接件由中心轴线在同一平面内且成一定角度的第一圆弧薄壁和第二圆弧薄壁相交而成为一体,其一端沿第二圆弧薄壁的轴向方向设置有一个缩口,所述缩口能够插入所述第一机臂的内部,而所述第二机臂能够插入由一对第一圆弧薄壁组成的内部空间;和一对第二连接件,所述第二连接件设置为圆弧薄壁,所述一对第二连接件对称地固定在所述一对第一连接件的设置有缩口的一端外侧。 3. The rack of claim 1, wherein the at least two end of the first arm unit are connected via a T-piece and the second arm unit connected to a T-connector comprising: a pair of first connecting member, symmetrically disposed, wherein the first connecting member by a central axis in the same plane and at an angle to the first and second thin wall arc intersecting arcuate thin wall integrally along one end thereof the axial direction of the second arc is provided with a thin wall constriction, the constriction can be inserted inside of the first arm unit, while the second arm is inserted into the machine by a pair of first arcuate thin wall composition an internal space; and a pair of second connecting member, said second member connected to a thin-walled circular arc, the pair of second connecting member fixed to the symmetrically disposed pair of first connecting member has a necking the outer end.
4.根据权利要求3所述的机架,其特征在于,所述第一连接件的第一圆弧薄壁的一端向外延伸而形成有第一法兰式连接耳,所述第二连接件的两端分别向外延伸而形成有第二法兰式连接耳,所述第一法兰式连接耳和第二法兰式连接耳分别设置有多个通孔。 4. The rack of claim 3, wherein the outwardly extending end of the first arcuate member connected to a first thin wall is formed with a first flange connected to the ear, the second connection both ends of the member are formed with a second outwardly extending flange connection lugs, the first flange and the second flange connection lug connection lugs are provided with a plurality of through-holes.
5.根据权利要求1所述的机架,其特征在于,所述第一机臂的长度尺寸设置为轴距的0.1〜0.5倍。 The rack according to claim 1, wherein the length dimension of the first machine is provided for the arm 0.1~0.5 times the axial distance.
6.根据权利要求1所述的机架,其特征在于,所述至少两个第一机臂的间距设置为轴距的0.1〜0.4倍。 6. A rack according to claim 1, characterized in that said at least two pitch of the first set of the machine arm 0.1~0.4 times the wheelbase.
7.根据权利要求1所述的机架,其特征在于,所述第二机臂的长度尺寸设置为轴距的0.2〜0.8倍。 7. A rack according to claim 1, wherein the length dimension of the second set of the machine arm is 0.2~0.8 times the axial distance.
8.根据权利要求1至7任一项所述的机架,其特征在于,所述多边形盘包括对称设置的两个多边形盘半部,所述管夹由两个对称设置的管夹半部组成,所述多个管夹半部设置为沿所述多边形盘半部的外缘向外延伸,所述管夹半部设置为对应于所述至少两个第一机臂的另一端的间距的至少两个半圆管。 The frame 1 according to any one of claims 7, wherein the polygonal plate comprises two halves symmetrically arranged polygonal plate, the tube clamp clip half by two symmetrically disposed composition, the plurality of clip half is provided to extend along the outer edge of the polygonal disc halves outwardly, the tube clamp halves disposed to correspond to the other end of the at least two of the first machine arm spacing at least two half-pipe.
9.根据权利要求8所述的机架,其特征在于,所述多组机臂和所述中心件采用连续纤维增强塑料制成。 9. The rack of claim 8, wherein said plurality of sets of said central arm and the machine parts are made of continuous fiber reinforced plastic.
10.根据权利要求8所述的机架,其特征在于,所述多组机臂的横截面为圆形或者多边形。 10. A rack according to claim 8, characterized in that the cross section of the plurality of sets of the machine arm is circular or polygonal.
CN201610936337.2A 2016-11-01 2016-11-01 Rack of multi-rotor-ring unmanned aerial vehicle CN106564581A (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100108801A1 (en) * 2008-08-22 2010-05-06 Orville Olm Dual rotor helicopter with tilted rotational axes
CN203604374U (en) * 2013-09-25 2014-05-21 朱希龙 Three-way connecting pipe and trampoline frame
CN205136258U (en) * 2015-11-16 2016-04-06 绍兴启迪健身器材有限公司 Split T jacket
CN205499318U (en) * 2016-02-04 2016-08-24 顺丰科技有限公司 Many rotor unmanned aerial vehicle frame centre piece
CN205549568U (en) * 2016-03-18 2016-09-07 广州天翔航空科技有限公司 Unmanned aerial vehicle's rack construction
CN206288233U (en) * 2016-11-01 2017-06-30 顺丰科技有限公司 Many rotor unmanned aerial vehicle's frame

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100108801A1 (en) * 2008-08-22 2010-05-06 Orville Olm Dual rotor helicopter with tilted rotational axes
CN203604374U (en) * 2013-09-25 2014-05-21 朱希龙 Three-way connecting pipe and trampoline frame
CN205136258U (en) * 2015-11-16 2016-04-06 绍兴启迪健身器材有限公司 Split T jacket
CN205499318U (en) * 2016-02-04 2016-08-24 顺丰科技有限公司 Many rotor unmanned aerial vehicle frame centre piece
CN205549568U (en) * 2016-03-18 2016-09-07 广州天翔航空科技有限公司 Unmanned aerial vehicle's rack construction
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