CN109927890A - With the unmanned plane for folding link arm - Google Patents

Abstract

The present invention relates to a kind of with the unmanned plane for folding link arm, including unmanned plane body and two front link arms and two rear portion link arms, two rear portion link arms extend from unmanned plane body and include propulsion unit in the far-end of the two rear portion link arms.Front link arm is located at different corresponding heights from the fixed point of the fixed point of unmanned plane body and rear portion link arm and unmanned plane body relative to the horizontal mid-plane of unmanned plane body.Two front link arms of unmanned plane form the first tilt angle relative to the horizontal mid-plane of unmanned plane body, and two rear portion link arms form the second tilt angle relative to the horizontal mid-plane of unmanned plane body, and the link arm of unmanned plane is suitable for folding up along the body of the unmanned plane.

Description

With the unmanned plane for folding link arm

Technical field

The present invention relates to air vehicle technique field more particularly to a kind of unmanned planes with folding link arm.

Background technique

The typical case of such unmanned plane is the parrot company (Parrot SA, Paris, France) of Paris, FRA AR.Drone, Bebop Drone or Bebop 2, the unmanned plane are equipped with a series of sensors (accelerometer, three axis accelerometer Instrument, altimeter) four-axle aircraft, and may include at least one front camera, to capture field pointed by unmanned plane The image of scape.

These unmanned planes are equipped with several rotors, these rotors are by being suitable for controlled phase induction motor in a manner of differentiated Driving, to drive the unmanned plane with certain posture and speed.

For these four-axle aircrafts equipment there are four propulsion unit, each propulsion unit is equipped with propeller.These promote single Member is located in the far-end of link arm, and propulsion unit is connected to unmanned plane body by these link arms.In addition, these unmanned plane packets Multiple stabilizer blades are included, these stabilizer blades are for especially supporting the unmanned plane when unmanned plane is on ground.

20,10/,061,099 2 364 757 A1 and 2 450 862 A1 of EP (parrot company) descriptions of A2, EP of WO are logical Cross touch screen type mediaphone or tablet computer, the smart phone of such as iPhone type or iPad class for being integrated with accelerometer The tablet computer (registered trademark) of type drives the principle of unmanned plane.

By pilot instrument issue instruction be quantitatively 4, i.e., rolling, pitching, also referred to as yaw course and hang down It is straight to accelerate, wherein rolling is the rotational motion of the longitudinal axis around unmanned plane, and pitching is the rotational motion around transverse axis, and Yaw is that unmanned plane orients the direction.

In the following description, term " tablet computer " will be commonly used to refer to such steer, but the term should not be by It is interpreted as its narrow meaning, but on the contrary, it further includes functionally equivalent device, especially equipped at least one visualization Screen and all portable units for being equipped with wireless data exchange device, such as smart phone, more matchmakers without telephony feature Body player, game console etc..

The tablet computer include detection steering instructions and via directly with unmanned plane establish Wi-Fi (IEEE802.11) or Various control elements needed for the radio link of bluetooth radio local network type carries out bidirectional data exchange.The tablet computer Touch screen show the front camera institute captured image by unmanned plane, and be superimposed have a certain number of labels, from And allow the simple contact by operator's finger on the touch screen to control flight and activation instruction.

Such unmanned plane, especially four-axle aircraft type unmanned plane due to its structure and have sizable volume, Thus disadvantage is that such unmanned plane is difficult to transport.

In order to simplify the transport of such unmanned plane, it is well known that propeller will be removed in unmanned plane.However, due to Unmanned plane includes the multiple link arms for being connected to unmanned plane body, thus the unmanned plane is still huge and is difficult to transport.Example As described in the KR 10-1527544 B1, the link that can be folded up along unmanned plane body can also be provided Arm.

Summary of the invention

The purpose of the invention is to overcome the deficiencies of the prior art and provide it is a kind of with fold link arm nobody Machine.

The present invention is achieved through the following technical solutions:

A kind of unmanned plane with folding link arm, including as disclosed in above-mentioned KR 10-1527544 B1, The rotor blade unmanned plane includes unmanned plane body and two front link arms and two rear portion link arms, these link arms from Unmanned plane body extends and includes propulsion unit in the far-end of the two rear portion link arms, the forward position of link arm and Rear positions are limited relative to the main heading of the unmanned plane, and the link arm of the unmanned plane is suitable for along institute The body for stating unmanned plane is folded up.

Characteristically, the fixed point of front link arm and unmanned plane body and rear portion link arm and unmanned plane body are consolidated It pinpoints and is located at different corresponding heights relative to the horizontal mid-plane of unmanned plane body, and two front chains of the unmanned plane It connects arm and forms the first tilt angle relative to the horizontal mid-plane of the unmanned plane body, and two rear portions of the unmanned plane link Arm relative to the unmanned plane body horizontal mid-plane formed the second tilt angle, second tilt angle be different from this first Angle.

According to the feature of each dependent claims:

In the folded position, link arm folds in couples, and pairs of link arm is formed by front link arm and rear portion link arm, The link arm folds one above the other；

In the folded position, the link arm of a pair of of arm in parallel with each other along respective direction extend, and this to arm in unmanned plane Extend on the either side of the mid-plane of body；

These link arms are correspondingly connected to unmanned plane body by pivoting device, which includes for locking/solving Lock the device folded；

Foldable locking/tripper is in the locked position when arm is unfolded, and be in the deployed when link arm and It is in the unlocked position when being suitable for folding；

Foldable locking/tripper is located under link arm；

Foldable locking/tripper is button；

The button includes locking pin and spring；

Locking pin is taper；

The link arm includes cable trough, and sheath is inserted into the cable trough, and the sheath is suitable for when link arm folds Protect cable.

Compared with prior art, the beneficial effects of the present invention are: the link arm of unmanned plane of the present invention is suitable for along institute The body for stating unmanned plane is folded up.

Detailed description of the invention

Fig. 1 is the general view for the associated pilot instrument for showing unmanned plane and allowing to drive the unmanned plane.

Fig. 2 is the view of unmanned plane according to the present invention.

Fig. 3 A and 3B are the views with the unmanned plane of the link arm according to the present invention through folding.

Fig. 3 C shows the specific embodiment of the link arm according to the present invention through folding.

Fig. 4 shows the device for allowing the arm of the permission unmanned plane of unmanned plane to fold according to the present invention.

Fig. 5 A and 5B are shown according to the present invention for locking the example of the device of the folding of the link arm of locking/unlocking unmanned plane Property embodiment.

Fig. 6 shows the method according to the present invention for folding the link arm of unmanned plane.

Fig. 7 shows propulsion unit electric power cable slot.

Fig. 8 shows the system according to the present invention for promoting unmanned plane supporting member.

Fig. 9 is according to the present invention for promoting the detailed view of the system of unmanned plane supporting member.

Figure 10 shows the locking device of unmanned plane supporting member according to the present invention.

Figure 11, which is shown, promotes the unmanned plane under situation in unmanned plane supporting member.

Specific embodiment

In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.

In Fig. 1, appended drawing reference 10 is generally referred to unmanned plane.According to example illustrated in fig. 1, which is that four axis fly The unmanned plane of row device type.

The four-axle aircraft formula unmanned plane includes unmanned plane body 22 and two front link arms and two rear portion arms, and two A front link arm and two rear portion arms extend from unmanned plane body and include propulsion unit in its far-end, and link arm Forward position and rear positions limited relative to the main heading of the unmanned plane.The propulsion unit includes motor With propeller 12, which is assembled to the motor.

Drive and (fly control) these propulsion units independently of one another by integrated navigation and attitude control system.

Unmanned plane 10 further includes forward sight camera (not shown), which can get scene pointed by the unmanned plane Image.The unmanned plane further includes downwardly directed vertical view camera (not shown), which is suitable for capture and flies More the consecutive image of landform and it is specifically used for assessing speed of the unmanned plane relative to ground.

Accoding to exemplary embodiment, which is equipped with inertial sensor (accelerometer and gyroscope), these inertia pass Sensor can measure the angular speed and attitude angle of the unmanned plane under certain precision, that is, describe unmanned plane and join relative to fixed bottom boundary The Eulerian angles (pitch angle roll angle θ and yaw angle ψ) of the gradient of the horizontal plane of test system, it should be understood that horizontal velocity Two vertical and horizontal components are closely related to according to the gradient of two corresponding pitch axis and roll-over axis.

The measurement for the height that ultrasonic range finder below unmanned plane is also provided relative to ground is set.

Unmanned plane 10 is by the touch screen type mediaphone or tablet computer (such as iPhone such as with integrated accelerometer The cellular phone of type (registered trademark) etc.) or iPad type (registered trademark) etc. tablet computer etc long-range pilot instrument 16 drive.The long-range pilot instrument is standard device, i.e., the driving of unmanned plane 10 is controlled in addition to load application specific software It does not make an amendment in addition.According to this embodiment, user controls the displacement of unmanned plane 10 via pilot instrument 16 in real time.

The equipment that long-range pilot instrument 16 is provided with touch screen 18, the touch screen are shown by the airborne camera 14 on unmanned plane 10 Institute's captured image, and there are multiple labels with being superimposed, these labels allow the letter by user's finger 20 on touch screen 18 Single contact carrys out activation instruction.

Pilot instrument 16 is carried out via by the Radio Link of Wi-Fi (IEEE 802.11) or bluetooth local network type Following bidirectional data exchange to communicate with unmanned plane 10: from unmanned plane 10 to pilot instrument 16, to be specifically used for transmitting By camera institute captured image, and from pilot instrument 16 to unmanned plane 10, to send steering instructions.

The four-axle aircraft formula unmanned plane of Fig. 1 is illustrated in detail in Fig. 2.The four-axle aircraft formula unmanned plane 10 has nobody Machine body 22 and two front link arms 24,26 and two rear portion link arms 28,30, two front link arms 24,26 and two A rear portion link arm extends from unmanned plane body 22 and includes propulsion unit 32 in its far-end, and propeller 12 is assembled to this Propulsion unit, and the forward position of link arm and rear positions are limited relative to the main heading of the unmanned plane.

Four-axle aircraft formula unmanned plane 10 has specific frame structure, especially relative to the main flight of the unmanned plane Displacement uses so-called " V tail " shape at the rear portion of the unmanned plane.In other words, frame is retrofit into so that two rear portion chains It connects arm 28,30 and forms the portion V each other.

Therefore, the fixed point and two rear portion link arms 28,30 of two front link arms 24,26 and unmanned plane body with The fixed point of the unmanned plane body is located at different corresponding heights relative to the horizontal mid-plane of unmanned plane body 22.

In addition, two front link arms 24,26 of the unmanned plane are formed relative to the horizontal mid-plane of unmanned plane body First tilt angle, and two rear portion link arms 28,30 form second relative to the horizontal mid-plane of the unmanned plane body and incline Rake angle, second inclination angle are different from first angle.

Accoding to exemplary embodiment, water of the two front link arms 24,26 of the unmanned plane relative to the unmanned plane body Flat mid-plane forms 0 to 10 ° of angle, and two formation of rear portion link arms 28,30 include the angle between 15 ° and 45 °. According to specific embodiment, angle relevant to two rear portion link arms is about 30 °.

It is separately assembled to the positioning of propeller 12 of the propulsion unit 32 of front arm 26 and rear portion arm 30 in the same plane, especially It is in same rotational plane.And the propeller 12 for being separately assembled to the propulsion unit 32 of front arm 24 and rear portion arm 28 positions In the same plane, in especially same rotational plane.In other words, in the same side over-assemble of unmanned plane to propulsion unit 32 Propeller positions in the same plane, in especially same rotational plane.The side of unmanned plane is relative to the main of the unmanned plane Heading limits.

According to alternative embodiment, all propellers for being assembled to the propulsion unit of the unmanned plane are both positioned at same plane In, in especially same rotational plane.

These propellers are suitable for removing from propulsion unit 32, so as to store or in the case of propeller 12 is impaired more It changes.

According to specific embodiment, the propeller for being assembled to the propulsion unit 32 of the front link arm 24,26 of unmanned plane is straight Diameter is 279 millimeters, and 12 diameter of propeller for being assembled to the propulsion unit of the rear portion link arm 28,30 of the unmanned plane is 229 millis Rice.

According to specific embodiment, unmanned plane 10 is suitable for conveying different airborne sensors.These sensors are specifically It is fixed on unmanned plane body, is especially affixed to the rectangular structure of the unmanned plane.According to another embodiment, these sensors are inserted into Into supporting member, which itself is hooked together to the lower outer structure of the unmanned plane.

Airborne sensor on unmanned plane is, for example, camera, 360 degree of cameras or three-dimensional camera.

The unmanned plane further includes at least one unmanned plane supporting member 50.As shown in Figure 2, the unmanned plane include two nobody Machine supporting member 50, each unmanned plane supporting member are all provided with there are two stabilizer blade.

The unmanned plane has sizable volume due to its structure, thus disadvantage is that such unmanned plane is difficult to transport.

In order to meet the demand and according to the present invention, the link arm 24,26,28,30 of the unmanned plane is suitable for along institute The body for stating unmanned plane 22 folds, to reduce the volume of the unmanned plane during the transport of unmanned plane.

Fig. 3 A illustrates in the unmanned plane that is easy in transport configuration, wherein removes propeller and link arm edge Unmanned plane body fold up.

However, in alternate embodiments, as shown in Figure 3B, the link arm of unmanned plane can keep propeller to be assembled to nothing It is folded up while man-machine propulsion unit.

As shown in fig. 3, in the folded position, link arm (24,28) and (26,30) folds in pairs, pairs of link arm It is formed by front link arm and rear portion link arm, the link arm folds one above the other.

Specifically, as shown in FIG. 3 C, when link arm is folded up, the link arm of pairs of arm is in parallel with each other in phase It answers in plane and extends, and this extends arm on the either side of the horizontal mid-plane of unmanned plane body.

For this purpose, as shown in Figure 4, these link arms are correspondingly connected to unmanned plane body by pivoting device 34, the pivot Device 34 includes foldable locking/tripper 38.

Accoding to exemplary embodiment, pivoting device 34 is positioned substantially at the outside in the main type face of unmanned plane body 22. For this purpose, the unmanned plane body includes protruding portion 36 at each link arm, pivoting device 34 is located on the protruding portion.

As shown in Figure 4, foldable locking/tripper 38 is located under link arm.

According to specific embodiment, the foldable locking device 38 illustrated in Fig. 5 A and 5B includes at least two positions, I.e. when arm be unfolded when latched position and when link arm is in the deployed and is suitable for unlock when folding or folding up Position.

The latched position of foldable locking/tripper 38 allows for link arm to be maintained in expanded position.In other words, it locks Position allows for link arm to be maintained in their normal position, to allow unmanned plane during flying.In addition, locking device allows to avoid Especially occur any undesirable to turn up event during flight.

Fig. 5 A and 5B show the fold latch locking/unlocking according to the present invention being respectively in locked The exemplary embodiment of device.

According to exemplary embodiment shown in Fig. 5 A and 5B, foldable locking/tripper 38 is button 40, the button root It include locking pin 42 and spring 44 according to an embodiment.Locking pin 42 can be taper in shape.

Fig. 5 A is shown be in the locked position in foldable locking/tripper 38, and Fig. 5 B shows and is in the unlocked position In foldable locking/tripper 38,

Protruding portion 36, link arm 30 and the lock/unlock device 38 of unmanned plane body 22, and chain are shown in the drawings Arm is connect to be fixed on the protruding portion.

In latched position, taper locking pin 42 is contacted with unmanned plane body 22 and link arm 30 simultaneously as shown in the figure, with Prevent one in unmanned plane body and link arm any movement occurs relative to another.

In unlocked position, taper locking pin 42 is extracted out from its position in link arm 30, thus allow link arm into Row rotational motion.

The channel from latched position to unlocked position is formed by button 40.

Foldable locking/tripper 38 further includes spring 44, to allow protruding portion 36 and link arm when unmanned plane body When in 30 positions in " being ready to take off ", foldable locking/tripper automatically locks.

According to the collapsed embodiments that will now be described, start the folding of link arm by folded front portion arm.

For this purpose, as shown in Figure 6, fold latch locking/unlocking dress is operated below each link arm of front link arm 24,26 Set 38 (for example, buttons).Then, the front link arm of the unmanned plane is folded up along unmanned plane body 22.Therefore, it links Arm is folded towards the rear portion of unmanned plane.

Then, such as shown in above-mentioned Fig. 4, fold latch is operated below each link arm of rear portion link arm 28,30 Locking/unlocking device 38 (for example, button 40).Then, the rear portion link arm of the unmanned plane is folded along unmanned plane body 22 Come.Therefore, rear portion link arm is folded towards the front of unmanned plane.

Fig. 3 C illustrates the embodiment of the present invention, wherein pairs of link arm is folded up, and the link of the pairs of link arm Arm is substantially parallel with each other aligned.

Propulsion unit 32 is connected to unmanned plane body 22 via control and power cable, by being contained in the unmanned plane machine Electronic device in body drives.

As shown in Figure 7, controlling cable 46 is arranged in protected in cable trough, which is present in link arm and nothing In man-machine body.It is observable to be when the link arm of unmanned plane is folded up, controlling cable at pivoting device no longer by Protection.

Therefore, in order to enable the controlling cable keeps protected, cable is inserted into retaining ring or sheath 48, to avoid The cable is directly touched when link arm is in the position folded up.

As described above, four-axle aircraft formula unmanned plane is particularly suitable in its structure using airborne sensor, especially It is camera, 360 degree of cameras or three-dimensional camera.It is preferred that the sensor is on the rectangular structure of unmanned plane body It is fixed on unmanned plane body 22 or is fixed in supporting member, which itself is fixed on the lower section of the unmanned plane body Point.

Such unmanned plane construction has the disadvantages that.Video sensor covers unmanned plane supporting member at least in its ken A part, or during using 360 degree of video sensors being arranged under the unmanned plane body or even cover nobody All supporting members of machine.Therefore, observable is the unmanned plane supporting member interference video figure entered in the ken of sensor The quality of picture and the visual aspects for destroying video sequence.

As shown in Figure 2, unmanned plane includes at least two unmanned plane supporting members 50, these unmanned plane supporting members are from unmanned plane Body extends.

Each unmanned plane supporting member includes at least one stabilizer blade.Unmanned plane illustrated in fig. 2 includes two unmanned plane branch Bearing member, each unmanned plane supporting member all have two stabilizer blades.

According to the present invention, the supporting member 50 of the unmanned plane correspondingly includes lifting device 52, and unmanned plane body 22 includes extremely A few hoisting control device 54,52 chain of each lifting device of at least one hoisting control device and unmanned plane supporting member 50 It connects, so that these unmanned plane supporting members are suitable for the promotion when unmanned plane during flying.

Therefore, unmanned plane supporting member such construction on the one hand when unmanned plane supporting member 50 is not promoted, allow nobody Machine carries out landing and unmanned plane and is in settling position relative to ground, on the other hand allows when unmanned plane supporting member 50 is promoted There is the clear ken below the unmanned plane.

In fact, the raised position of unmanned plane supporting member allows to eliminate unmanned plane supporting member from the ken of video sensor And thus allow that there is such video image, which has high visual quality and especially not by nobody The stabilizer blade of machine supporting member interferes.

Fig. 8 illustrates according to making at hoisting control device 54 and lifting device 52 for promoting unmanned plane supporting member Such unmanned plane of vertical cross-section.

Therefore, shown is the unmanned plane body 22 for including hoisting control device 54.Such control device is, for example, tooth Roller box.

The unmanned plane includes unmanned plane supporting member 50, and the unmanned plane supporting member is at its fixed part with unmanned plane body 22 Including lifting device 52, the lifting device and 54 associated of hoisting control device.

According to specific embodiment and as shown in Figure 9, the lifting device 52 of unmanned plane supporting member includes lift lever 56.

In addition, hoisting control device 54 includes pivoting lift crank 58, these pivot lift crank and are correspondingly filled by connection The lift lever 56 for the lifting device 52 that 60 are connected to unmanned plane supporting member is set, to allow the promotion of unmanned plane supporting member.

According to this embodiment, in the non-raised position of unmanned plane supporting member, the position of crank axle 58 and lifting device 52 In such position, the position allow eliminate hoisting control device 54 in due to unmanned plane weight and unmanned plane in the presence of The power for being hit and generating on ground is struck against when land.

As shown in figs, lift crank 58 is driven by hoisting control device 54 and is rotated.For this purpose, the end of lift crank 58 The pivot center 62 of hoisting control device 54 is fixed in portion, which is driven by hoisting control device and rotated.

The second end of lift crank 58 includes coupling arrangement 60, which is suitable for the promotion with lifting device 52 56 associated of crank.

Therefore, according to this embodiment, implement connecting rod-crank system.

Coupling arrangement 60 is for example affixed to the axis of crank 58, which is inserted into the opening of lift lever 56.

According to another example of the embodiment of hoisting control device 54, which is formed by gear motor, The gear motor is for driving the axis of the lift crank to rotate.Such gear motor is by reduction gearing and motor drive mechanism At unit.The reduction gearing allows to reduce the velocity of rotation of motor.

As shown in Figure 9, lifting device 52 includes the pivot hinge of supporting member 64 in part in its center.

Such pivot hinge of supporting member 64 is for example made of the pivotal axis being inserted into unmanned plane body, to allow to mention Device is risen to be rotated according to the axis.

Alternatively, the pivot hinge of supporting member 64 is, for example, especially circular perforation type through-hole, complementary shape Pivot center is inserted into the through-hole, which is anchored on the unmanned plane body.

Lifting device 52 for example including Liang Ge branch, the two branches from the central part of the lifting device, especially from Pivot hinge 64 is extended, and forms angle between these branches.

The angle being formed between Liang Ge branch is included between 75 ° and 105 ° and preferably 90 °.

According to embodiment illustrated in fig. 9, one of branch includes lift lever 56, which is connected to promotion control The lift crank 58 of device, and the second branch is anchored on unmanned plane supporting member.

According to this embodiment, the direction for the power being applied on lift crank is substantially opposite the pivotal axis pair of lift crank In, and torque is not applied on the lift crank.Effect inside hoisting control device be not present or it is extremely low 's.

According to the present invention, after unmanned plane takes off, hoisting control device 54 allows unmanned plane supporting member to be promoted, with release Such as it is fixed on the ken of the video sensor on the underlying surfaces of the unmanned plane body.

For this purpose, hoisting control device 54 is driven by pilot instrument 16 illustrated in fig. 1.Specifically, pilot instrument 16 wraps Include the instruction that unmanned plane supporting member is promoted and declined.The instruction is via the communication link established between pilot instrument and unmanned plane And unmanned plane is sent to from pilot instrument.

According to an embodiment, user by pilot instrument movement come activate unmanned plane supporting member promoted and decline Instruction.

According to alternative embodiment, after the instruction for activating unmanned plane to take off by user, pilot instrument is after taking off Issue the instruction that unmanned plane supporting member is promoted.

Similarly, when unmanned plane during flying, user can activate the decline of unmanned plane supporting member on pilot instrument, especially use In the instruction of landing.

According to alternative embodiment, after the instruction for activating UAV Landing by user, pilot instrument is landing The instruction of unmanned plane supporting member decline is issued before.

In the case of receiving unmanned plane supporting member promotion/decline instruction, the unmanned machine check drone status and such as The fruit drone status is carried out the instruction if allowing.For example, just not executing unmanned plane branch when unmanned plane is on ground The promotion of bearing member instructs.

If drone status allows to execute described instruction, just pass through the hoisting control device 54 of operation unmanned plane body To execute the instruction driven by unmanned aerial vehicle (UAV) control device.

Figure 10 corresponds to the unmanned plane of Fig. 2, it is the side view according to unmanned plane.The unmanned plane includes two unmanned plane branch Bearing member 50, and each unmanned plane supporting member correspondingly includes two stabilizer blades 66, the two stabilizer blades are connected to each other by center section 68.

According to specific embodiment illustrated in fig. 10, the center section 68 of unmanned plane supporting member is suitable for pivoting to allow The promotion of stabilizer blade.

Figure 11 shows an embodiment, wherein these unmanned plane supporting members are aligned with link arm.Specifically, these nobody Machine supporting member is respectively formed the leading edge for the link arm at rear portion for being located in the unmanned plane and/or is located in the front of the unmanned plane The trailing edge of link arm, and the forward position of link arm and rear positions are limited relative to the main heading of the unmanned plane It is fixed.

In this way, resistance is inhibited during unmanned plane during flying, and the resistance is limited to stop unmanned plane supporting member in sky The power moved in gas.

For this purpose, the unmanned plane supporting member in raised position is integrated in the shape of unmanned horn, with reconstruct " plane The shape of the wing " type has the aerofoil profile with leading edge and trailing edge, to allow the resistance of supporting member can be in the unmanned plane during flying phase Between reduce.In addition, observable be, the unmanned plane supporting member according to embodiment illustrated in fig. 11, in raised position Ensure especially in the situation for folding link arm, awing additional locking system.

In addition, the unmanned plane supporting member in raised position strengthens link arm in structure during unmanned plane during flying.

According to specific embodiment, unmanned plane supporting member is suitable for separating with unmanned plane body, to specifically reduce nothing Man-machine volume is especially convenient for the transport of the unmanned plane.

Thus and as shown in Figure 10, unmanned plane supporting member correspondingly includes for locking/solution on unmanned plane body Lock the device 70 of unmanned plane supporting member.

Device for locking locking/unlocking unmanned plane supporting member is suitable for unmanned plane supporting member in latched position securely It is held in the unmanned plane body.In addition, unmanned plane supporting member is suitable for removing from unmanned plane body, especially in unlocked position It is that unmanned plane supporting member lifting device 52 can be removed from hoisting control device.

The method that unmanned plane supporting member is separated from unmanned plane body will now be described.This method is based on each supporting member Two steps to be executed and have the advantages that without tool.

First step includes the device 70 operated for locking locking/unlocking unmanned plane supporting member, with unlock described device and Thus allow to separate from supporting member.Second step includes the front that unmanned plane supporting member 50 is shifted to unmanned plane, the unmanned plane Front is limited by the main heading of unmanned plane.It is such displacement for example allow by lifting device 52 from lift crank 58 and by This is separated from hoisting control device 54.In addition, the displacement allows the pivot hinge by lifting device 52 from unmanned plane body 64 It separates.Once lifting device is separated from lift crank and from pivot hinge, unmanned plane supporting member is adapted to from unmanned plane It removes.

Entire unmanned plane supporting member lifting system is illustrated on the unmanned plane with specific structure, specifically It says, the fixed point of two front link arms 24,26 and unmanned plane body and rear portion link arm 28,30 are consolidated with unmanned plane body It pinpoints and is located at different corresponding heights relative to the horizontal mid-plane of unmanned plane body, and two front chains of the unmanned plane Connect arm 24,26 relative to the unmanned plane body horizontal mid-plane formed the first tilt angle, and two rear portion link arms 28, 30 relative to the unmanned plane body horizontal mid-plane formed the second tilt angle, second tilt angle be different from this first Angle.

However, the entire unmanned plane supporting member lifting system is also adapted to implement on such unmanned plane, the unmanned plane It include: that two front link arms and the fixed point of unmanned plane body and rear portion link arm are opposite with the fixed point of unmanned plane body It is located at sustained height in the horizontal mid-plane of unmanned plane body, and two front link arms of the unmanned plane are relative to the nothing The first tilt angle and two rear portion link arms that the horizontal mid-plane of man-machine body is formed are relative to the unmanned plane body The second tilt angle that horizontal mid-plane is formed is identical.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims (8)

1. a kind of with the unmanned plane for folding link arm, it is characterised in that: including unmanned plane body (22)；And two front chains Connect arm (24,26) and two rear portion link arms (28,30), described two front link arms and described two rear portion link arms are from institute Unmanned plane body is stated to extend and include propulsion unit (32), the link arm in the far-end of described two rear portion link arms Forward position and rear positions limited relative to the main heading of the unmanned plane, the unmanned plane link arm be suitble to Folded up in the body along the unmanned plane, the fixed point of described two front link arms and the unmanned plane body and Horizontal mid-plane of the fixed point of described two rear portion link arms and the unmanned plane body relative to the unmanned plane body At different corresponding heights, two front link arms of the unmanned plane are intermediate relative to the level of the unmanned plane body Plane the first tilt angle of formation, and horizontal mid-plane shape of described two rear portion link arms relative to the unmanned plane body At the second tilt angle, second inclination angle is different from the first angle, and the link arm folds in couples, links in pairs Arm is formed by front link arm and rear portion link arm, and the link arm folds one above the other, in the folding position, in pairs The link arm of arm extends in respective planes in parallel with each other, and the pairs of arm is in the mid-plane of the unmanned plane body Extend on either side.

2. according to claim 1 a kind of with the unmanned plane for folding link arm, it is characterised in that: the link arm is corresponding Ground is connected to the unmanned plane body by pivoting device (34), and the pivoting device includes the device for locking locking/unlocking folding (38)。

3. according to claim 2 a kind of with the unmanned plane for folding link arm, it is characterised in that: the foldable locking/ Tripper is in the latched position when the arm is unfolded, and when the link arm is in the expanded position and fits It is in the unlocked position together in when folding up.

4. according to claim 2 a kind of with the unmanned plane for folding link arm, it is characterised in that: the foldable locking/ Tripper is located under the link arm.

5. according to claim 1 a kind of with the unmanned plane for folding link arm, it is characterised in that: the foldable locking/ Tripper is button.

6. according to claim 5 a kind of with the unmanned plane for folding link arm, it is characterised in that: the button includes lock Rationed marketing and spring.

7. according to claim 6 a kind of with the unmanned plane for folding link arm, it is characterised in that: the locking pin is round Taper.

8. according to claim 1 a kind of with the unmanned plane for folding link arm, it is characterised in that: the link arm includes Cable trough, sheath are inserted into the cable trough, and the sheath is suitable for protecting the line when the link arm is folded up Cable.