CN208102312U - The undercarriage and rack, unmanned plane of a kind of rotating mechanism, unmanned plane - Google Patents

Abstract

A rotating mechanism, which is applied to unmanned aerial vehicles. The unmanned aerial vehicle includes a central body and a carrier and a tripod arranged under the central body. The carrier is used to support a payload. The rotating mechanism includes: a rotating part and a driving part; the rotating part is used for It is connected with the stand and used to rotate relative to the central body; the driving part is used to drive the rotating part to rotate when the carrier rotates. The rotation mechanism can realize the follow-up rotation of the UAV's tripod relative to the UAV-mounted carrier, and there is no rigid connection between the UAV's tripod and the carrier, so that it does not affect the carrier's own mode , which is conducive to the independent work of the carrier.

Description

A rotating mechanism, a landing gear and a frame of an unmanned aerial vehicle, and an unmanned aerial vehicle

technical field

The embodiment of the utility model relates to the field of unmanned aerial vehicles, in particular to a rotating mechanism, a landing gear and a frame of an unmanned aerial vehicle, and an unmanned aerial vehicle.

Background technique

As a load-bearing and maneuverable accessory device for UAVs, tripods play an extremely important role in the safe take-off and landing of UAVs, and are one of the important components of UAVs.

In recent years, the UAV manufacturing industry has developed rapidly and has been widely used in aerial photography, plant protection, surveying and mapping and other fields. In the field of aerial photography, in order to reduce the interference of the tripod to the shooting equipment, retractable tripods have been designed. However, when the field of view of the shooting equipment is large and the shooting direction of the shooting equipment is special, it is still easy to appear The situation where the frame is worn out into the picture is not conducive to the aerial photography effect of the drone.

Based on the above problems, the existing tripod adopts a fixed-connection synchronous tripod, which can be fixed on the pan/tilt of the drone, so that when the pan/tilt supports the shooting equipment to change the shooting direction, The fixed synchronous tripod can rotate synchronously with the gimbal to avoid the tripod within the field of view of the shooting equipment.

However, due to the fixed connection with the gimbal, the rigid connection relationship between the fixed-connected synchropod and the gimbal affects the mode of the gimbal itself, which is not conducive to the independent work of the gimbal.

Contents of the invention

The embodiment of the utility model provides a rotation mechanism, a landing gear and a frame of a UAV, and a UAV, which are used to realize the follow-up rotation of the tripod of the UAV relative to the carrier mounted on the UAV, and without There is no rigid connection between the tripod of the man-machine and the carrier, so that the self-mode of the carrier can not be affected, which is beneficial to the independent work of the carrier.

In view of this, the first aspect of the utility model provides a rotation mechanism, the rotation mechanism is applied to the UAV, the UAV includes a central body and a carrier and a tripod arranged under the central body, the carrier is used to support the payload, Rotary mechanisms can include:

Rotary and drive parts;

The rotating part is used for connecting with the tripod and used for rotating relative to the central body;

The driving part is used to drive the rotating part to rotate when the carrier rotates.

Optionally, the carrier is a pan/tilt; the payload is an imaging device.

Optionally, the rotating part includes a rotating part and a frame part, and the rotating part is connected with the frame part;

The rotating part is also used to connect with the driving part;

The frame piece is also used for connection with the tripod.

Optionally, the frame member is arranged at the bottom of the rotating member;

The frame member includes an upper frame, a lower frame and a middle frame, and the upper frame and the lower frame are respectively provided with a first installation part and a second installation part for connecting the tripod;

The middle frame is arranged between the upper frame and the lower frame.

Optionally, the first mounting part and/or the second mounting part is a screw hole structure.

Optionally, the rotating member is a transmission wheel.

Optionally, an opening structure is provided in the center of the rotating part, and the opening structure is used for passing through the adapter piece of the carrier.

Optionally, the rotating mechanism further includes a connecting piece, which is used to connect the tripod to the rotating part.

Optionally, the driving part includes a motor and a driving part, the motor is used to drive the driving part, and the driving part is used to drive the rotating part.

Optionally, the driving part further includes a transmission belt, and the driving part drives the rotating part through the transmission belt; or,

The driving part is engaged with the rotating part, and the driving part drives the rotating part through the engaging action.

Optionally, the driving member is a driving wheel.

Optionally, the rotating mechanism further includes a supporting part, and the supporting part is used for supporting the rotating part.

Optionally, the support part includes a support shaft, a lower shaft support plate, a support column and an upper shaft support plate, the lower shaft support plate is arranged at the lower end of the support shaft, the upper shaft support plate is arranged at the upper end of the support shaft, and the support column is arranged on the upper end of the support shaft. shaft support plate;

The rotating part surrounds the outer periphery of the supporting shaft, and the rotating part is placed on the supporting plate of the lower shaft.

Optionally, the support shaft is a hollow shaft structure, and the hollow shaft structure is used for the adapter piece passing through the carrier.

Optionally, the rotating mechanism further includes a first bearing installed on the upper surface of the rotating part, and/or the rotating mechanism further includes a second bearing installed on the lower surface of the rotating part; or,

The upper surface of the rotating part or the contact surface attached to the upper surface is provided with a first bearing structure connected as a whole, and/or the lower surface of the rotating part or the contact surface attached to the lower surface is provided with a first bearing structure connected as a whole. Two bearing structures.

Optionally, the first bearing structure and/or the second bearing structure is a ball bearing structure.

The second aspect of the utility model provides a landing gear of an unmanned aerial vehicle, which may include a tripod and a rotation mechanism as in the first aspect.

Optionally, the tripod includes a first tripod part and a second tripod part;

The two ends of the first foot frame are respectively connected with the second foot frame and the rotating part in the rotation mechanism, and the length of the first foot frame is shorter than the length of the second foot frame.

Optionally, the tripod further includes a holding member, and the first tripod member is connected to the second tripod member through the holding member.

The third aspect of the utility model provides a frame of an unmanned aerial vehicle. The frame includes the central body of the unmanned aerial vehicle. The frame is used to mount a carrier, and the carrier is used to support a payload. The frame also includes landing gear.

Optionally, a first sensor is provided under the central body, and a second sensor matching the first sensor is provided on the foot of the landing gear, and the first sensor and the second sensor are used for positioning the foot.

Optionally, the first sensor and/or the second sensor is a Hall magnet sensor.

Optionally, the frame further includes a shock absorbing system connected to the adapter of the carrier, and the shock absorbing system is arranged within the range of the height space formed by the supporting columns of the supporting part in the rotating mechanism of the landing gear.

Optionally, the damping system is a cross damping plate.

The fourth aspect of the utility model provides a drone, which may include the frame provided in the third aspect and a carrier mounted on the frame, and the carrier is used to support a payload.

As can be seen from the above technical solutions, the utility model embodiment has the following advantages:

The embodiment of the utility model provides a rotating mechanism, which may include a rotating part and a driving part. The rotating part can be used to connect with the stand, and the driving part can be used to drive the rotating part to rotate when the carrier rotates. Thus, when the carrier rotates, the payload supported by the carrier will rotate synchronously, and the tripod connected to the rotating part will also rotate following the rotation of the payload supported by the carrier under the action of the driving part, and the tripod and the rotating mechanism The rotating part of the frame is connected, so that the tripod and the carrier are separated instead of being rigidly connected to each other, so that the self-mode of the carrier can not be affected, which is beneficial to the independent work of the carrier. At the same time, when the payload supported by the carrier is such as an imaging device, by driving the tripod to rotate correspondingly with the carrier, the situation that the tripod enters the field of view of the imaging device can be avoided.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some implementations of the present invention. For example, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Fig. 1 is the partial structural representation of unmanned aerial vehicle in the utility model embodiment;

Fig. 2 is a schematic diagram of the rotating part of the rotating mechanism in the embodiment of the present invention;

Fig. 3 is the overall schematic diagram of the rotating mechanism in the embodiment of the utility model;

Fig. 4 is a structural schematic diagram of the support part in the rotating mechanism in the embodiment of the utility model;

Fig. 5 is an exploded schematic diagram of the rotating mechanism in the embodiment of the present invention;

Fig. 6 is a schematic diagram of the overall structure of the drone in the embodiment of the present invention.

Detailed ways

The embodiment of the utility model provides a rotation mechanism, a landing gear and a frame of a UAV, and a UAV, which are used to realize the follow-up rotation of the tripod of the UAV relative to the carrier mounted on the UAV, and without There is no rigid connection between the tripod of the man-machine and the carrier, so that the self-mode of the carrier can not be affected, which is beneficial to the independent work of the carrier.

In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the utility model. Obviously, the described The embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present utility model and the above drawings are used to distinguish similar objects and do not necessarily Used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

In the embodiment of the utility model, the UAV can be applied in the field of aerial photography, and can especially be suitable for the filming needs of the film crew because of its better load-bearing performance and structural stability. In order to solve the problem that the tripod is fixedly connected to the platform of the drone and affect the work of the platform, the embodiment of the utility model provides a rotating mechanism, which can realize the separation of the tripod and the platform, which is beneficial to the operation of the platform. It can work independently, and through the corresponding control of the rotating structure, it can also solve the problem of the tripod piercing the picture during the shooting process of the drone.

The rotating mechanism, the landing gear of the UAV, the frame of the UAV, and the UAV in the embodiment of the present invention will be described in detail below for the above application scenarios.

Of course, besides the above application scenarios, the drone can also be applied to other scenarios, which are not specifically limited here.

For ease of understanding, the rotating mechanism in the embodiment of the utility model is described in detail below, please refer to FIG. 1, an embodiment of the rotating mechanism in the embodiment of the utility model may include:

The rotating part 1 and the driving part 2;

The rotating part 1 is used to connect with the tripod 3 and is used to rotate relative to the central body 5;

The driving part 2 is used to drive the rotating part 1 to rotate when the carrier 4 rotates.

In the embodiment of the utility model, the rotating mechanism can be applied to an unmanned aerial vehicle, and the unmanned aerial vehicle can include a central body 5, which is the main part of the unmanned aerial vehicle, and can include a flight control system of the unmanned aerial vehicle. Carry out corresponding flight control to the unmanned aerial vehicle; Around the center body 5, a corresponding number of arms can be arranged symmetrically or at intervals, and one or more power systems can be provided at the end of each arm away from the center body. A power system is used to provide power for the movements such as the rise, advance, and rotation of the UAV; the bottom of the central body 5 can be provided with a tripod 3, and the tripod 3 can be used to support the UAV on the ground or in a fixed position when the UAV lands. on the crops, so as to avoid the contact between the central body 5 and other structures and the ground or fixed crops, so as to support the drone while protecting the drone; further, the carrier 4 and the carrier 4 can also be mounted under the central body 5 It can be used to support the payload 6 to assist in realizing other corresponding functions of the drone through the payload 6 .

Exemplarily, as shown in FIG. 1 , the central body 5 of the drone may include a first mounting plate 51 and a second mounting plate 52 . A battery for powering the drone can be provided between the first mounting plate 51 and the second mounting plate 52; the side of the first mounting plate 51 and the second mounting plate 52 can be provided with a mounting portion for installing the arm, Make the machine arm between the first mounting plate 51 and the second mounting plate 52; the end of the machine arm away from the central body 5 can be provided with two power systems to provide power for the flight of the drone; the tripod 3 of the drone And the mounted carrier 4 can be disposed under the second mounting plate 52 . Wherein, the rotating structure can also be arranged under the central body 5 of the drone, specifically: the rotating part 1, the driving part 2 are connected with the corresponding parts of the drone below the second mounting plate 52 (the fuselage of the drone It may include a plurality of parts, and the driving part 2 may be directly or indirectly connected to one or more parts of the plurality of parts, so as to realize an indirect connection with the central body 5, and even, there may be no connection relationship with the central body 5 ), or it can also be directly connected to the central body 5 of the drone to realize the stable and reliable connection between the rotating mechanism and the fuselage of the drone, and to maintain the corresponding transmitted function of the rotating part 1 and the driving part 2. The main transmission function, the rotating part 1 is connected with the tripod 3 . When the carrier 4 mounted on the drone rotates, the driving part 2 can drive the rotating part 1 to rotate according to the rotation information of the carrier, thereby realizing the rotation of the rotating part 1 relative to the central body 5 . Therefore, during the aerial photography of the UAV, the UAV can maintain the corresponding posture of the central body 5 , and the tripod 3 connected to the rotating part 1 can realize the following rotation of the payload 6 supported by the carrier 4 . The following rotation may include synchronous rotation or following rotation according to other preset rules. Wherein, the direction and/or speed of the following rotation of the rotating part 1 can be set correspondingly according to needs, so as to realize various following rotation modes of the tripod 3 and meet different following rotation requirements of the tripod 3 relative to the payload 6 .

Preferably, the following rotation of the stand 3 relative to the payload 6 may include avoiding the impact of the stand 3 on the demand of the payload 6 . For example, when the payload is such as an imaging device, when the carrier rotates, all tripods 3 may be located outside the field of view of the imaging device.

As can be seen from the above structure, the tripod 3 is connected to the rotating part 1, and there is no connection relationship between the rotating part 1 and the carrier 4, so the rotating part 1 can avoid the connection between the tripod 3 and the carrier 4 (this connection can include direct connection or indirect connection), so that the tripod 3 and the carrier 4 are separated from each other, rather than rigidly connected to each other, so that when the carrier 4 is working, it will not affect its own mode due to the tripod 3, which is beneficial to the carrier 4 independent work, if the posture change of the carrier 4 due to the shaking of the tripod 3 will not affect the work of the carrier 4, at the same time, the corresponding method design can also meet the follow-up rotation of the payload 6 supported by the tripod 3 and the carrier 4 , can solve the problem that the tripod 3 breaks through the picture during the drone aerial photography process.

Further, since the tripod 3 is separated from the carrier 4, when the drone lands, the tripod 3 will not directly transmit the impact force to the carrier 4, which is beneficial to the structural stability of the carrier 4 and also helps to protect the carrier 4. .

In the embodiment of the present utility model, optionally, the carrier 4 may be a pan-tilt. A pan/tilt may refer to a pivotal support that allows the payload 6 to rotate about one or more axes of rotation. The gimbal may provide stability to the supported payload 6 and may also be configured to control the state of the payload 6 and provide rotational and/or translational movement capabilities for the payload 6 . Wherein, the pan-tilt can be a single-axis pan-tilt, a dual-axis pan-tilt, a three-axis pan-tilt or other types of pan-tilts.

In the embodiment of the present utility model, optionally, the payload 6 may refer to any part of the load or object supported by the pan/tilt. Payload 6 may be configured to not perform any operations or functions. Alternatively, the payload 6 may be configured to perform a corresponding operation or function, also referred to as a functional payload. For example, payload 6 may include one or more sensors for surveying one or more targets. The sensor can collect information about the environment around the sensor. Any suitable sensor may be incorporated into the payload, such as imaging devices (e.g., visual imaging devices (e.g., image capture devices, cameras, etc.), infrared imaging devices, ultraviolet imaging devices, thermal imaging devices, etc.), audio capture devices ( For example, parabolic microphones), radio frequency (rf) sensors, magnetic sensors, ultrasonic sensors, etc. Wherein, payload 6 may include a single type of sensor, projectile and/or tool, may also include multiple types of sensor, projectile and/or tool, and may also include any number of sensors, projectile and or tool and other Combinations, such as sensor arrays.

Further, in the embodiment of the present utility model, when the UAV corresponding to the rotating mechanism is used for filming by the crew, the imaging device may be a camera, such as a video camera.

The carrier 4 is a three-axis gimbal and the payload 6 is an imaging device as an example for illustration. When the carrier 4 is a three-axis gimbal, it can rotate around the first axis A1 (for example, the yaw axis), the second axis A2 (for example, the roll axis) and the third axis A3 (for example, the pitch axis) . Wherein, when the three-axis gimbal rotates around the yaw axis, the imaging device supported by the three-axis gimbal will also rotate synchronously around the yaw axis. Based on the relative position design of the tripod 3 in the UAV, in order to prevent the tripod 3 from blocking the lens of the imaging device, the flight control system of the UAV can rotate around the yaw axis according to the three-axis gimbal when the three-axis gimbal rotates The rotation information controls the drive part 2, so that the drive part 2 can drive the rotation part 1 according to the rotation information such as the rotation speed and/or rotation direction of the three-axis pan/tilt around the yaw axis, so that the tripod 3 connected to the rotation part 1 is relatively The synchronous rotation of the imaging device around the yaw axis avoids the tripod 3 within the field of view of the imaging device, preventing the tripod 3 from being inserted into the picture. At the same time, since the tripod 3 is not directly or indirectly connected to the three-axis gimbal, it will not affect the mode of the three-axis gimbal itself, which is beneficial to the independent work of the three-axis gimbal.

It can be understood that in the embodiment of the present utility model, the tripod 3 may include two or more than two, wherein the number of the tripod 3 may be the same as the number of the rotating parts 1, or may be greater than the number of the rotating parts 1, for example, one The rotating part 1 can be connected with a tripod 1, and a rotating part 1 can also be connected with more than one tripod 1. Correspondingly, the number of the rotating part 1 can be the same as the number of the driving part 2, and can also be greater than that of the driving part 2. The quantity can be set according to actual needs, and is not specifically limited here.

It should be noted that, in the embodiment of the present utility model, the tripod 3 may include two or more than two, wherein, during the rotation of the carrier 4, one or more of the tripod 3 may be rotated as required, this one or The above tripods 3 can be driven and rotated by the same driving part 2, and can also be driven and rotated by different driving parts 2, and the rotation information such as the rotation direction and/or the rotation speed of the one or more tripods 3 can be the same, or can be different, and is not specifically limited here.

On the basis of the structure of the above-mentioned embodiment, the rotating mechanism includes a driving part 2 and a rotating part 2, one drives a rotating part 2, and a rotating part 2 connects all the tripods 3 of the drone as an example. Further detailed description of the rotating part 1, driving part 2 and other additional structures in

Please refer to Fig. 2, another embodiment of the rotating mechanism in the embodiment of the utility model may include:

The rotating part 1 includes a rotating part 11 and a frame part 12, and the rotating part 11 and the frame part 12 are connected;

The rotating member 11 is also used to connect with the driving part 2;

The frame member 12 is also used to connect with the tripod 3 .

Specifically, the rotating part 1 may include a rotating part 11 and a frame part 12 . Wherein, the rotating member 11 and the frame member 12 can be connected by means such as screws, and the rotating member 11 can also be used for connecting with the driving part 2 , and the frame member 12 can also be used for connecting with the tripod 3 . Thus, when the rotating part 11 is rotated under the action of the driving part 2, the rotating part 11 can drive the rotation of the frame part 12, so that the rotation of the tripod 3 can be realized, that is, the tripod 3 can follow the payload on the carrier 4 6 to rotate, such as the synchronous movement of the tripod 3 and the payload 6. Through the above structure, it is not only beneficial to the connection stability of the stand 3 , but also beneficial to simplify the structural design of the rotating member 11 .

Wherein, the rotating member 11 and/or the frame member 12 can be directly connected or indirectly connected with one or more components on the fuselage of the drone, and specifically can be arranged under the second mounting plate 52, so that the drone’s While the fuselage supports the rotating part 1, the corresponding driven function of the rotating part 1 can be maintained.

It can be understood that, in the embodiment of the present invention, the rotating member 11 and the frame member 12 may be a separate structure, or may be an integrated structure, which is not specifically limited here.

Optionally, in some embodiments, the frame member 12 can be arranged at the bottom of the rotating member 11 , and the side of the frame member 12 can be connected with the tripod 3 . Thus, when the tripod 3 is connected to the side of the frame member 12, due to the larger connection area, its connection stability can be improved, which is conducive to reducing the impact of the impact force when the drone lands; secondly, the frame member 12 is designed to At the bottom of the rotating part 11, it can prevent the driving part 2 from being hindered by the rotation of the foot frame 3 when driving the rotating part 11, and it is also beneficial to the control of the installation height of the driving part 2 and the rotating part 11 and the simplification of installation, and more It is beneficial to improve the integration, space utilization and appearance beautification of the entire structure of the drone when the rotating mechanism is applied to the drone.

It can be understood that, in practical applications, the positional relationship between the frame member 12 , the rotating member 11 , and the stand 3 can be designed in other positions other than those described above, which are not specifically limited here.

Optionally, in some embodiments, the frame member 12 may include an upper frame 121 and a lower frame 122 . When the tripod 3 is such as a tubular structure, the height between the upper frame 121 and the lower frame 122 can be greater than the diameter of the tripod 3 to improve the connection stability of the tripod 3 and strengthen the support for the tripod 3 . The upper frame 121 and the lower frame 122 can be respectively provided with a first mounting portion and a second mounting portion for connecting the tripod 3, and accordingly, the tripod 3 can include a mounting portion for matching the first mounting portion and the second mounting portion , so as to realize the installation and fixing of the tripod 3 on the side of the frame member 12 .

Wherein, the outer circumference of the upper frame 121 and the lower frame 122 can be a polygon, and the number of sides of the polygon can be determined according to the number of tripods 3, so as to improve the appearance aesthetic feeling. Open structure to improve space utilization and reduce exposed parts. For example, when there are three tripods 3 , the outer circumference of the upper frame 121 and the lower frame 122 may be hexagonal, and one tripod 3 is provided at intervals on each side. Of course, the shapes of the outer periphery of the upper frame 121 and the lower frame 122 can also be set in other ways as required, which is not specifically limited here.

It can be understood that the mounting part included in the tripod 3 may be a part integrally formed with the tripod 3, or may be a separate part for connecting the tripod 3 and the frame member 12, and the separate part may be The independent intermediate connecting piece may also be attached to the rotating mechanism, which is not specifically limited here.

Optionally, in some embodiments, the rotating mechanism may further include a connecting piece 7 , which may be used to connect the tripod 3 to the rotating part 1 . The connecting member 8 is a mounting portion separately from the stand 3 as described above, and is attached to the rotation mechanism. In order to further enhance the connection stability and structural strength between the tripod 3 and the rotating part 1 , the connecting piece 7 may be a carbon tube connecting piece.

Wherein, the first mounting part and/or the second mounting part may be a screw hole structure, so as to fix and connect the tripod 3 on the frame member 12 through bolts or screws.

It should be noted that, in addition to the structure described above, the first mounting part and/or the second mounting part can also be other structures in practical applications, such as buckle, and the connection mode between the tripod 3 and the frame member 12 is other than The content described above can also be connected in other ways. The connections described in the embodiments of the present invention can include but are not limited to direct connections, indirect connections, detachable connections or permanent connections, etc., which are not specifically limited here.

Further, in some embodiments, the frame member 12 may further include a middle frame 123 , and the middle frame 123 may be disposed between the upper frame 121 and the lower frame 122 . That is, the upper and lower ends of the middle frame 123 may be connected to the upper frame 121 and the lower frame 122 respectively. Wherein, the middle frame 123 may comprise a plurality, and is spaced apart by the foot frame 3 to surround the outer periphery of the space formed by the upper frame 121 and the lower frame. The increase of the middle frame 123 is beneficial to improve the structural strength of the frame member 12 . At the same time, the middle frame 123 can be a hollow structure, that is, the middle frame 123 can be provided with a plurality of through holes, and the size, shape, arrangement, and arrangement density of the plurality of through holes can be set differently according to needs, so as to strengthen the frame. While reducing the weight load of the frame member 12 while improving the structural strength of the member 12, when the rotating structure is applied to an unmanned aerial vehicle, the endurance of the unmanned aerial vehicle can be improved.

It can be understood that when the frame member 12 includes the middle frame 123, the tripod 3 can also be connected with the middle frame 123 while being connected with the upper frame 121 and the lower frame 122, so as to further improve the connection stability and strengthen the strength of the connection structure , can also be connected only with the middle frame 123, and its connection relationship and connection method are not specifically limited here.

Optionally, in some embodiments, the rotating member 11 may be a transmission wheel, so as to facilitate the power transmission of the driving part 2 . Wherein, the transmission wheel may include but not limited to gears or pulleys.

Optionally, in some embodiments, in order to facilitate the free rotation of the carrier 4 and enhance the utilization rate of the structural space, the carrier 4 may include an adapter 41, and the center of the rotating part 1 may be provided with an opening structure, and the opening structure is through The hole can be used to pass through the adapter piece 41 of the carrier 4 . Thus, when the adapter 41 can be used as an intermediate connector mounted on the carrier 4 on the UAV, the adapter 41 passes through the opening structure in the center of the rotating part 1, and its two ends can respectively protrude from the opening structure, Thus, one end of the adapter 41 can be fixedly mounted on the drone, and the other end can be connected to the carrier 4 .

It can be understood that, based on the difference in the positional relationship between the carrier 4 and the tripod 3, the adapter 41 may not be provided, or may be used as a part of the carrier 4, and may be adjusted accordingly according to needs, which is not specifically limited here. .

Please refer to Fig. 3, another embodiment of the rotating mechanism in the embodiment of the utility model may include:

The driving part 2 includes a motor 21 and a driving part 22 , the motor 21 is used to drive the driving part 22 , and the driving part 22 is used to drive the rotating part 1 .

Specifically, the driving part 2 may include a motor 21 and a driving part 22 under the central body 5 of the flying feather drone. Wherein, the output shaft of the motor 21 can be connected with the driving member 22 , and the driving member 22 can be driven by the motor 21 . For example, the motor 21 can be controlled by an electronic governor, and the electronic governor can communicate with the flight control system of the drone. The signal can control the rotation information such as the rotation direction and rotation speed of the motor 21 accordingly, so that the rotation information such as the rotation direction and rotation speed of the driving member 22 can be correspondingly adjusted through the motor 21 . Driven by the motor 21 , the driving member 22 can drive the rotating part 1 to rotate.

Exemplarily, the motor 21 may include a motor mount 211 . The upper end surface of the driver 22 can be provided with a mounting portion for installing the motor 21, and the motor 21 can be connected to the driver 22 through the motor mount 211, and at the same time, the motor mount 211 can be used to fix the drive portion 2, so that the drive The part 2 can be fixed in a certain position to drive the rotating part 1 . Wherein, the end of the motor mounting seat 211 away from the motor 21 can be fixedly connected to any suitable part of the drone, specifically, it can be arranged under the second mounting plate 52 of the central body 5 of the drone, such as being arranged on the second mounting plate 52 of the central body 5 of the drone. The connection of the spherical damping plate under the two mounting plates 52 is as long as the stability of the driving part 2 can be realized.

Optionally, in some embodiments, the driving member 22 may be a driving wheel. Wherein, when the driving member 22 is used as the driving wheel, the following two driving modes can be included:

1. In some embodiments, the driving part 2 can also include a transmission belt 23, and the two ends of the transmission belt 23 can be sleeved on the rotating part 11 of the rotating part 1 and the driving part 22 of the driving part 2, so as to realize the driving part 22. It is connected with the transmission of the rotating member 11. Under the action of the motor 21 , the driving member 22 can drive the rotating part 2 through the transmission belt 23 . Wherein, the driving member 22 can be used as a driving wheel, the rotating member 11 can be used as a driven wheel, and the driving member 22 can drive the rotating part 1 through the transmission effect of the transmission belt 23 .

It can be understood that the transmission belt 23 in the embodiment of the utility model can be a transmission belt with a flat surface, or a transmission belt with a toothed surface, which can be set according to the structure of the rotating member 11 and the driving member 22 or the actual use needs. There is no specific limit.

2. In some embodiments, the driving part 22 can mesh with the rotating part 1, that is, the driving part 22 and the rotating part 11 in the rotating part 1 can both be gear structures, and the two can mesh with each other. Wherein, the driving member 22 can be used as a driving wheel, the rotating member 11 can be used as a driven wheel, and the driving member 22 can drive the rotating part 1 by engaging with the rotating member 11 .

It should be noted that, in the embodiment of the present utility model, in addition to the content described above, the driving method of the driving part 2 to drive the rotating part 1 can also be used in other ways in practical applications, as long as it can be reasonably realized, and will not be described here. Specific limits.

It can be understood that, in the embodiment of the present invention, the driving member 22 is not only the driving wheel described above, but also can be other structures suitable for driving in practical applications, which are not specifically limited here.

Please refer to Fig. 3 and Fig. 4, another embodiment of the rotating mechanism in the embodiment of the utility model may include:

The rotating mechanism also includes a support part 8 for supporting the rotating part 1 .

Specifically, in order to improve the stability of the rotating mechanism, weaken the impact force on the drone when the drone lands, and then cause the impact on the carrier 4 mounted on the drone, the rotating mechanism can also include a support part 8, to strengthen the structural strength. The supporting part 8 can be used to support the rotating part 1 . Wherein, the supporting part 8 can be connected with any suitable part of the fuselage of the drone, specifically, can be connected with the second mounting plate 52 of the central body 5 of the drone.

Optionally, in some embodiments, the support part 8 may include a support shaft 81 and a lower shaft support plate 82 . Wherein, the lower shaft support plate 82 can be arranged on the outer circumference of the lower end surface of the support shaft 81, and is connected with the outer circumference of the lower end surface of the support shaft 81, and the outer circumference of the lower shaft support plate 82 can be such as a circle; 1 can surround the outer periphery of the support shaft 81, and can be placed on the lower shaft support plate 82 at the same time, so that the lower shaft support plate 82 can play a corresponding supporting role.

Correspondingly, in order to enhance the rational use of space resources and enhance the integration of the structure, the support shaft 81 can be a hollow shaft structure, that is, the center of the support shaft 81 is also a through hole, so that the adapter 41 of the carrier 4 can pass through the support shaft 81 to realize the corresponding connection. Thus, the above structure can be seen from the outside to the inside: the rotating part 1, the supporting part 8, and the adapter 41 of the carrier 4. This structural design maintains the original structural design of the tripod 3 around the carrier 4. 4 and when the weight of the supported payload 6 is relatively large, it is beneficial to maintain the balance of the drone and reduce flight resistance.

Optionally, in some embodiments, the support portion 8 may further include a support column 83, which may be disposed on the upper end of the support shaft 81, so as to be connected to the second mounting plate 52 such as shown in FIG. 1 through the support column 83 , so as to realize the fixation with the UAV fuselage. At the same time, the height space range formed by the support columns 83 can be used to install other additional structures of the drone, which is conducive to improving space utilization.

Wherein, one end of the support column 83 connected to the fuselage of the drone can be provided with a connecting plate such as a triangle, so as to increase the connection area with the fuselage of the drone and improve the connection stability.

It can be understood that the connecting plate at the end of the support column 83 connected to the drone body can have other shapes, such as square, round, other regular shapes, irregular shapes, etc., which are not specifically limited here.

Optionally, in some embodiments, the support part 8 may further include an upper shaft support plate 84 . The upper shaft support plate 94 can be connected with the upper end of the support shaft 81, that is, the upper shaft support plate 84 can be arranged around the outer circumference of the upper end surface of the support shaft 81, and the outer circumference of the upper shaft support plate 84 can be such as a square, and the support column 83 It can be set on the upper shaft support plate 84 . Specifically, the support columns 83 may be arranged near the edge of the upper shaft support plate 84, so as to increase the space range surrounded by the plurality of support columns 83, which is beneficial to space utilization.

It can be understood that, in the embodiment of the present invention, the outer circumference of the lower shaft support plate 82 is such as a circular design, which can reduce the material cost and realize the supporting effect at the same time. The outer circumference of the upper shaft support plate 84 is such as a square design, then It can facilitate the connection of the support columns 83 and at the same time expand the space range formed by the plurality of support columns 83. In practical applications, the lower shaft support plate 82 and the upper shaft support plate 84 can also adopt other shapes in addition to the above-mentioned shape descriptions. Design, not specifically limited here.

It should be noted that, in the embodiment of the present utility model, the upper shaft support plate 84 may include a plurality of through holes to reduce the weight of the support part 8 and improve the endurance of the drone. The shapes of the plurality of through holes are They can be the same and arranged symmetrically, and their shapes can also be different, and their shapes, arrangement rules, and sizes are not specifically limited here.

Please refer to Fig. 5, another embodiment of the rotating mechanism in the embodiment of the utility model may include:

The rotating mechanism further includes a first bearing 9 installed on the upper surface of the rotating part 1 .

Specifically, when the upper surface of the rotating part 1 is in contact with other components, in order to reduce the friction coefficient of the rotating part 1 during motion and ensure its rotation accuracy, the rotating structure may further include a first bearing 9 . The first bearing 9 can be mounted on the upper surface of the rotating part 1 . Wherein, when the rotating part 1 includes a rotating part 11 for realizing rotation, and the rotating part 11 is above the rotating part 1 , the first bearing 9 can also be arranged on the upper surface of the rotating part 11 .

When the lower surface of the rotating part 1 is in contact with other components, in order to further reduce the friction coefficient of the rotating part 1 during motion, the rotating mechanism can also include a second bearing 10, which can be installed on the lower surface of the rotating part 1 .

In this way, when the upper and lower surfaces of the rotating part 1 may be in contact with other components, the smoothness of rotation of the rotating part 1 can be greatly improved by providing corresponding bearings on the upper and/or lower surfaces of the rotating part 1 .

It can be understood that, in the embodiment of the present utility model, based on the structural design and composition of the rotating part 1, the first bearing 10 and/or the second bearing 10 can be correspondingly arranged on the upper surface or the rotating part of the rotating part 1 The lower surface is not limited to the entire upper or lower surface of the rotating part 1.

Correspondingly, in some embodiments, the upper surface of the rotating part 1 or the contact surface attached to the upper surface may be provided with a first bearing structure connected as one, that is, the first bearing structure is connected to the upper surface of the rotating part 1 as Integral, or the first bearing structure is integrated with the contact surface of the upper surface of the rotating part 1 to replace the first bearing 10 . Correspondingly, the lower surface of the rotating part 1 or the contact surface adhering to the lower surface may be provided with a second bearing structure connected as one, instead of the second bearing 10 .

It can be understood that when the rotating part 1 includes a rotating part 11 for realizing rotation, if the rotating part 11 is arranged on the upper part of the rotating part 1, the first bearing structure can also be arranged on the upper surface of the rotating part 11 or be connected with the rotating part 11. The upper surface of the rotating part 11 is attached to the contact surface, or, when the rotating part 11 is arranged at the lower part of the rotating part 2, the second bearing structure can also be arranged on the lower surface of the rotating part 11 or attached to the lower surface of the rotating part 11. For details on the joint contact surface, reference may be made to the corresponding descriptions of the above-mentioned first bearing 9 and second bearing 10, which will not be repeated here.

Wherein, the first bearing structure and/or the second bearing structure may include but not limited to a ball bearing structure, and the ball bearing structure may be changed according to the existing design and the structure of the rotating part 1, as long as it can reduce the rotation of the rotating part 1. The coefficient of friction during motion is sufficient.

On the basis of the structure of the above-mentioned embodiment, please refer to Fig. 3 and Fig. 5, the embodiment of the present utility model also provides a kind of landing gear of unmanned aerial vehicle, and this landing gear can comprise tripod 3 and any one of above-mentioned rotating mechanism.

When the landing gear is applied to the UAV, when the carrier 4 mounted on the UAV rotates, the driving part 2 of the rotating mechanism in the landing gear can drive the rotating part 1 to rotate according to the rotation of the carrier 4, so as to realize the The follow-up rotation of the frame 3 relative to the payload 6 supported by the carrier 4 can solve the problem that the tripod 3 breaks into the picture during the aerial photography of the UAV. At the same time, since the tripod 3 is connected to the rotating part 1 in the rotating mechanism, and there is no direct or indirect connection between the rotating mechanism and the carrier 4, the tripod 3 will not affect the self-modality of the carrier 4, which is beneficial to the 4 independent work.

Further, since the tripod 3 is separated from the carrier 4, when the drone lands, the tripod 3 will not directly transmit the impact force to the carrier 4, which is beneficial to the structural stability of the carrier 4 and also helps to protect the carrier 4. .

It can be understood that, in the embodiment of the present utility model, the rotating part 1 in the rotating mechanism can be a part of the tripod 3, that is, the tripod 3 is provided with a structure for rotation, which is equivalent to the rotating part 1 , so that under the action of the driving part 2 in the rotating mechanism, the foot stand 3 is directly driven to rotate in a corresponding direction or speed.

Optionally, in some embodiments, the stand 3 may include a first stand member 31 and a second stand member 32 . Wherein, one end of the first leg member 31 can be connected with the rotating part 1 in the rotating mechanism, and the other end can be connected with the second leg member 32 . The first stand 31 and the second stand 32 are connected to form a bent structure, which can alleviate the impact of the second stand 32 on the ground or fixed objects when the drone lands, and reduce the impact on the drone. influences. At the same time, the length of the first stand member 31 may be shorter than the length of the second stand member 32 to improve the supporting strength of the stand 3 .

Optionally, in some embodiments, the stand 3 may further include a clasp 33 , and the first stand 31 may be connected to the second stand 32 through the clasp 33 . Thus, the first leg member 31 and the second leg member 32 can be easily disassembled. Wherein, the holding member 33 can be a carbon tube holding member, so as to improve the structural strength.

It can be understood that, in the embodiment of the present utility model, in addition to the content described above, other methods can be used for the connection of the first leg member 31 and the second leg member 32 in practical applications, such as welding. Not specifically limited.

It should be noted that, in the embodiment of the present invention, in order to reduce the load-carrying weight of the drone and reduce the torque output of the motor 21 in the rotating mechanism, the tripod 3 may be, for example, a hollow structure.

On the basis of the structure of the above-mentioned embodiment, please refer to Fig. 1 and Fig. 3, the utility model embodiment also provides a kind of frame of unmanned aerial vehicle, and this frame can comprise the central body 5 of unmanned aerial vehicle, and frame can The carrier used to mount and support the payload 6 may also include any of the above-mentioned landing gear, that is, a tripod 3 and a rotating mechanism are provided under the central body 5, so as to realize the support of the UAV while , under the action of the rotation mechanism, the follow-up rotation of the tripod 3 relative to the payload 6 supported by the carrier 4 can be satisfied.

Optionally, in some embodiments, in order to control the rotation of the tripod 3 and the positioning of the tripod 3, a first sensor may be provided under the central body 5, and a matching first sensor may be provided on the tripod 3 of the landing gear. The second sensor of the sensor, the first sensor and the second sensor can be used to position the tripod 3, to determine the rotation position of the tripod 3, and after the tripod 3 is rotated accordingly, it can be used according to the corresponding positioning information Return to the original position of tripod 3. Of course, in practical applications, if the relative position of the tripod 3 does not affect the landing of the drone and does not affect the strength of the supporting structure, the tripod 3 may not return to the original position.

It can be understood that when the tripod 3 includes two or more, if the positions of the two or more tripods 3 are relatively fixed, the number of the second sensors can be the same as the number of the tripod 3, or can be smaller than the number of the tripod 3 3, for example, the second sensor can be provided on only one tripod 3, which is not specifically limited here.

Wherein, the first sensor and/or the second sensor may include but not limited to a Hall magnet sensor, as long as the corresponding positioning function can be realized.

Optionally, in some embodiments, the frame may further include a shock absorbing system, which is connected to the central body 5 of the drone and connected to the adapter 41 of the carrier 4 . The shock absorption system can be configured to isolate the carrier 4 from the drone, so as to reduce the impact of the vibration of the drone on the carrier 4 .

Optionally, in some embodiments, when the rotation mechanism of the landing gear includes the support part 8, and the support part 8 includes the support column 83, the damping system can be arranged within the height space range formed by the support column 83 without changing The structure of the original central body 5 of the drone is beneficial to the simplification of the preparation process and structure. Wherein, the damping system may include but not limited to a cross damping plate.

On the basis of the structure of the above-mentioned embodiment, please refer to Fig. 6, the embodiment of the present utility model also provides a kind of unmanned aerial vehicle, and this unmanned aerial vehicle can comprise any kind of frame above and the carrier 4 that is mounted by the frame , the carrier 4 can be mounted under the central body, and the carrier 4 can be used to support the payload 6, which can be such as an imaging device to meet the aerial photography requirements of the UAV.

From the above description, it can be seen that when the rotation mechanism is applied to a drone, the tripod 3 can be driven by the driving part 2 to the rotation part 1 to achieve follow-up rotation relative to the carrier 4 . Therefore, due to the separate design of the tripod 3 and the carrier 4, the self-mode of the carrier 4 will not be affected by the tripod 3, and it can also realize the synchronous rotation with the carrier 4, thereby solving the problem of the tripod during the shooting process of the UAV. 3, the problem of passing through the frame, and the problem that the tripod 3 cannot be retracted normally will not threaten the safety of the drone. Further, the above-mentioned structure has strong connection stability and structural strength, which is conducive to realizing the stability during the shooting process of the UAV, improving the performance of the UAV, and can also prevent the impact force of the UAV from falling when it lands. The tripod 3 is directly transferred to the carrier 4, so that the use safety of the carrier 4 is improved.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other.

In the several embodiments provided by the utility model, it should be understood that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it; although the utility model has been described in detail with reference to the foregoing embodiments Those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; 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 of the various embodiments of the present invention.

Claims (17)

1. The utility model provides a rotary mechanism is applied to unmanned aerial vehicle, unmanned aerial vehicle includes the centrum and locates carrier, the foot rest of centrum below, the carrier is used for supporting payload, its characterized in that, rotary mechanism includes:

a rotating part and a driving part;

the rotating part is used for being connected with the foot rest and rotating relative to the central body;

the driving part is used for driving the rotating part to rotate when the carrier rotates.

2. The rotary mechanism of claim 1, wherein the carrier is a pan-tilt; the payload is an imaging device.

3. The rotary mechanism of claim 1, wherein the rotary portion comprises a rotary member and a frame member, the rotary member being connected to the frame member;

the rotating piece is also used for being connected with the driving part;

the frame member is also adapted to be connected to the foot rest.

4. A rotary mechanism according to claim 3, wherein the frame member is provided at a bottom of the rotary member;

the frame piece comprises an upper frame, a lower frame and a middle frame, wherein the upper frame and the lower frame are respectively provided with a first mounting part and a second mounting part for connecting the foot rest;

the middle frame is arranged between the upper frame and the lower frame.

5. A rotation mechanism according to any of claims 1 to 4, wherein the centre of the rotary part is provided with an opening arrangement for an adapter extending through the carrier.

6. The rotary mechanism of any one of claims 1 to 4, wherein the drive portion comprises a motor and a drive member, the motor being configured to drive the drive member, the drive member being configured to drive the rotary portion.

7. The rotary mechanism of claim 6, wherein the drive portion further comprises a drive belt, the drive member driving the rotary portion via the drive belt; or,

the driving piece is meshed with the rotating part and drives the rotating part through meshing action.

8. The rotary mechanism of any one of claims 1 to 4, further comprising a support for supporting the rotary portion.

9. The rotary mechanism of claim 8, wherein the support portion comprises a support shaft, a lower shaft support plate, a support post, and an upper shaft support plate, the lower shaft support plate being disposed at a lower end of the support shaft, the upper shaft support plate being disposed at an upper end of the support shaft, the support post being disposed on the upper shaft support plate;

the rotating part surrounds the outer periphery of the supporting shaft, and the rotating part is arranged on the lower shaft supporting plate.

10. The rotary mechanism of claim 9, wherein the support shaft is a hollow shaft structure configured to extend through an adaptor of the carrier.

11. A rotary mechanism according to any of claims 1 to 4, further comprising a first bearing mounted to an upper surface of the rotary part and/or a second bearing mounted to a lower surface of the rotary part; or,

the upper surface of rotating part or with the contact surface of upper surface laminating is equipped with connects first bearing structure as an organic whole, and/or, the lower surface of rotating part or with the contact surface of lower surface laminating is equipped with connects second bearing structure as an organic whole.

12. The rotary mechanism of claim 11, wherein the first bearing structure and/or the second bearing structure is a ball bearing structure.

13. A landing gear for a drone, comprising a foot prop and a rotary mechanism as claimed in any one of claims 1 to 12.

14. A frame for a drone, said frame comprising a central body of said drone, said frame being intended to carry a carrier for supporting a payload, characterized in that it further comprises a landing gear of said drone according to claim 13.

15. The frame according to claim 14, wherein a first sensor is provided below the central body, a second sensor is provided on a foot rest of the landing gear for engaging the first sensor, and the first and second sensors are used to position the foot rest.

16. The airframe as recited in claim 14 or 15, wherein the airframe further comprises a shock absorbing system connected to the adapter of the carrier, the shock absorbing system being disposed within a height space defined by support columns of the support portion of the rotating mechanism of the landing gear.

17. A drone comprising a chassis according to any one of claims 14 to 16 and a carrier mounted by the chassis for supporting a payload.