WO2017097021A1 - 可穿戴无人机 - Google Patents

可穿戴无人机 Download PDF

Info

Publication number
WO2017097021A1
WO2017097021A1 PCT/CN2016/100943 CN2016100943W WO2017097021A1 WO 2017097021 A1 WO2017097021 A1 WO 2017097021A1 CN 2016100943 W CN2016100943 W CN 2016100943W WO 2017097021 A1 WO2017097021 A1 WO 2017097021A1
Authority
WO
WIPO (PCT)
Prior art keywords
fuselage
aerial vehicle
key
retracting
motor
Prior art date
Application number
PCT/CN2016/100943
Other languages
English (en)
French (fr)
Inventor
杨国霞
安征
Original Assignee
江苏唯天智能无人机研发有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏唯天智能无人机研发有限公司 filed Critical 江苏唯天智能无人机研发有限公司
Publication of WO2017097021A1 publication Critical patent/WO2017097021A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/60—Transport or storage specially adapted for UAVs by wearable objects, e.g. garments or helmets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/80—UAVs characterised by their small size, e.g. micro air vehicles [MAV]
    • A—HUMAN NECESSITIES
    • A44—HABERDASHERY; JEWELLERY
    • A44C—PERSONAL ADORNMENTS, e.g. JEWELLERY; COINS
    • A44C5/00—Bracelets; Wrist-watch straps; Fastenings for bracelets or wrist-watch straps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/50—Foldable or collapsible UAVs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports

Definitions

  • the invention relates to a portable drone, belonging to the technical field of drones.
  • the existing four-rotor aerial drones mostly with a wheelbase of 350cm or more, carry the flight control, GPS and three-axis cloud platform and camera, which are large in size and cannot be miniaturized, making it inconvenient to carry and at the same time Many areas have small spaces that cannot be used indoors.
  • the existing small (5cm wheelbase) quadrotor UAV has a small load and cannot load sensors such as professional flight control, GPS positioning, and high-definition cameras.
  • the present invention provides a wearable drone that is not only small in size, but also designed to be easily carried like a watch through a one-button retractable structure design.
  • a wearable drone which comprises a fuselage, the fuselage is a hollow box body, and the two sides of the fuselage are symmetrically arranged with four can be closed at the center of the inner fuselage during storage.
  • a wing arm that can be deployed away from the center of the fuselage, and the two wing arms on each side are integrally connected, and the bottom end of the wing arm has a rotating shaft extending into the body and hinged to the body
  • the fuselage is provided with a retracting control and locking mechanism for controlling the movement of the wing arm, and the retracting control and locking mechanism has a retracting button extending from the fuselage, and the front end of the wing arm is mounted
  • There is a motor and the power output shaft of the motor is equipped with a blade, and the motor is connected to the power source.
  • the retracting control and locking mechanism comprises: in each of the two rotating shafts of the wing arm, one of the rotating shafts is provided with a gear, and the other rotating shaft is provided with a torsion spring; the gears on both sides are oppositely disposed, on both sides A shrapnel for braking is mounted between the gears, and the shrapnel is carried on a shrapnel frame inside the fuselage, and the retracting key has a function of enabling the shrapnel to catch the gear in a normal state, and needs to be adjusted.
  • the middle part of the elastic piece is bent, the two ends are separated from the adjusting device of the gear.
  • the retracting button is horizontally mounted on the body, and the rod portion of the retracting button is connected to the sliding pair of the body, and the adjusting device is configured to make the rod portion of the retracting button into a variable section axis, and the variable section axis
  • the cross-sectional area is getting bigger and bigger from the inside to the outside.
  • the retracting key is horizontally mounted on the body, and the lever portion of the retracting key is coupled to the rotating body of the body, and the adjusting device is an adjusting cam or protrusion provided on the rod portion of the retracting key.
  • the retracting button is vertically mounted on the body, and the rod portion of the retracting button is located above the elastic piece,
  • the adjusting device is a device for controlling the lifting and resetting of the lever portion of the retracting button.
  • a detachable blade storage box is mounted on the opposite side of the fuselage body opposite to the closing direction of the wing arm, and the blade storage box has four blade receiving grooves adapted to the blade, and the blade storage The middle portion of the groove has a blade receiving groove protrusion which also serves as a drone landing gear; the blade is detachably connected to the power output shaft of the motor.
  • the wing arm is shaped to fit on the wrist after being stored.
  • the body is equipped with an electronic governor, an autopilot, a global positioning system, a data link airborne terminal and a mission load airborne device, and the motor is connected to the electronic governor, the signal line of the electronic governor Connected to the autopilot, the autopilot is bidirectionally coupled to the data chain onboard terminal.
  • the task load onboard device is a data image sensor
  • the side of the fuselage is equipped with a camera
  • the data image sensor is connected to the data chain onboard terminal
  • the camera is connected to the data map transmission device.
  • the power source is a battery that supplies power to the motor and all electronic devices.
  • the beneficial effects of the present invention are as follows:
  • the shape of the wearable drone of the present invention is similar to that of a smart watch, and the wearing of the drone and the opening of the wing are realized by the one-button retracting mode.
  • the paddles are housed in the dial groove of the dial for easy carrying and removal.
  • the invention adopts a one-button retracting wing mode, and uses a gear and a spring to connect the wing rotating shaft in the fuselage shell, and the elastic piece is used to clamp the gear. When the retracting key is pressed, the retracting key presses the elastic piece, and the elastic piece bends downward.
  • the gear produces a steering motion due to the spring elasticity, and at the same time, the movable wing is opened; when the retracting button is released, the elastic piece is not squeezed and the gear is clamped again, and the wing is fixed. At this time, the blade is taken out from the dial receiving groove and placed.
  • the finger On the motor at the end of the wing; when it is necessary to fold the wing to carry on the wrist, the finger only needs to squeeze the wing at the same time, the wing is forced to rotate the gear, the gear is opened to open the elastic piece, and when it is close to the wrist, the finger is released, the elastic piece is released. When the gear is caught again, the wing is fixed to the wrist.
  • the invention has the advantages of small size, convenient wearing and freely retracting, thereby effectively increasing the application scenario of the drone, and is suitable for the personnel concentration area and the small space or the inability to carry the ordinary aerial photographing machine, such as during the travel, to realize the function of taking a picture and taking a picture. Not limited by space and flow of people.
  • FIG. 1 is a schematic structural view of a wearing state according to the present invention.
  • FIG. 2 is a schematic structural view of the present invention in an unfolded flight state
  • Figure 3 is a schematic view showing the structure of a propeller storage box of the present invention.
  • 4 is a schematic diagram of a key retracting structure of the present invention.
  • Figure 5 is a schematic diagram of the retraction control and locking mechanism of the present invention.
  • a wearable drone as shown in FIG. 1-4 which comprises a fuselage 1, the fuselage 1 is a hollow box body, and two sides of the fuselage 1 are symmetrically arranged with four inwardly facing bodies 1 during storage.
  • the wing arm 2 is closed when the center is closed and can be away from the center of the fuselage 1 .
  • the two wing arms on each side are integrally connected, and the bottom end of the wing arm 2 has a rotating shaft 2-1 extending into the
  • the body 1 is hinged to the body 1, and the body 1 is provided with a retraction control and locking mechanism for controlling the movement of the wing arm 2, and the retracting control and locking mechanism has a body extending from the body 1.
  • the retracting key 5, the front end of the wing arm 2 is equipped with a motor 3, and the power output shaft of the motor 3 is provided with a blade 6, and the motor 3 is connected to a power source.
  • the retracting control and locking mechanism comprises: in each of the two rotating shafts 2-1 of the wing arm 2, one of the rotating shafts is provided with a gear 10, and the other rotating shaft is provided with a gear 10 There is a torsion spring 11; the gears 10 on both sides are oppositely disposed, and the elastic piece 12 for braking is interposed between the gears 10 on both sides, and the elastic piece 12 is carried on the elastic frame 1-1 inside the fuselage 1,
  • the retracting key 5 has an adjusting device capable of causing the elastic piece 12 to catch the gear 10 in a normal state, and enabling the bending ends of the elastic piece 12 to be disengaged from the gear when adjustment is required.
  • the four wing arms can be turned around the outer side of the connecting shaft body under the action of the torsion spring 11 to realize the opening of the wing from the wrist; when the retracting button is pressed, the ends of the elastic piece are separated from the gear, in the torsion spring Under the action, the flip is realized.
  • the retracting button is released, the shrapnel re-clamps the gear, and the wing is locked.
  • the retracting key 5 is horizontally mounted on the body 1, and the rod portion of the retracting key 5 is connected to the sliding pair of the body 1.
  • the adjusting device is configured to make the rod portion of the retracting key 5 into a variable section axis.
  • the cross-sectional area of the variable section axis is larger and larger from the inside to the outside. In this embodiment, the effect of controlling the curvature of the elastic piece is achieved by the telescopic retracting key 5.
  • the accommodating key 5 is horizontally mounted on the body 1, and the shank of the accommodating key 5 is connected to the rotating pair of the body 1.
  • the adjusting device is an adjusting cam or the adjusting cam of the shank of the accommodating key 5 or Raised. In this embodiment, the effect of controlling the curvature of the elastic piece is achieved by rotating the release key 5.
  • the retracting key 5 is vertically mounted on the body 1, and the rod portion of the retracting key 5 is located on the elastic piece 12.
  • the adjusting device is a device for controlling the lifting and resetting of the lever portion of the retracting key 5. In this embodiment, the effect of controlling the curvature of the elastic piece is achieved by pressing the retracting key 5.
  • a detachable paddle storage case 4 is mounted on the opposite side of the fuselage 1 from the closing direction of the wing arm 2.
  • the paddle storage case 4 has four paddles adapted to the paddle 6 In the groove 7, the middle portion of the blade receiving groove 7 has a blade receiving groove projection 8 which also serves as a drone landing gear; the blade 6 is detachably connected to the power output shaft of the motor 3.
  • the blade 6 of the embodiment is disposed on the pivot of the motor when flying, and is placed in the blade storage box 4 above the fuselage when worn.
  • the middle projection makes it easy to insert the raised portion of the propeller, and the raised portion can also serve as a landing gear for the drone to land.
  • the wing arm 2 is shaped to fit on the wrist after being stored. It can be curved or straight curved.
  • the fuselage 1 is equipped with an electronic governor, an autopilot, a global positioning system, a data link airborne terminal and a mission load airborne device, and the motor 3 is connected to the electronic governor, the electronic governor
  • the signal line is connected to the autopilot, and the autopilot is bidirectionally connected to the data chain onboard terminal.
  • the task load airborne device is a data image sensor, the side of the fuselage 1 is equipped with a camera 9, the data image sensor is connected to the data chain airborne terminal, and the camera 9 and the data map are transmitted. The devices are connected.
  • the power source is a battery that supplies power to the motor 3 and all of the electronic devices.
  • the shape of the wearable drone of the present invention is similar to that of a smart watch, and the wear and the opening of the drone are realized by the one-button retracting mode.
  • the paddle When the paddle is worn, it is stored in the dial groove of the dial for easy carrying and removal.
  • the invention adopts a one-button retracting wing mode, and uses a gear and a spring to connect the wing rotating shaft in the fuselage shell, and the elastic piece is used to clamp the gear.
  • the retracting key presses the elastic piece, and the elastic piece bends downward.
  • the gear produces a steering motion due to the spring elasticity, and at the same time, the movable wing is opened; when the retracting button is released, the elastic piece is not squeezed and the gear is clamped again, and the wing is fixed. At this time, the blade is taken out from the dial receiving groove and placed.
  • the finger On the motor at the end of the wing; when it is necessary to fold the wing to carry on the wrist, the finger only needs to squeeze the wing at the same time, the wing is forced to rotate the gear, the gear is opened to open the elastic piece, and when it is close to the wrist, the finger is released, the elastic piece is released. When the gear is caught again, the wing is fixed to the wrist.
  • the wearable drone has two states: a wear-locked state (Fig. 1) and a deployed flight state (Fig. 2), which are realized by a wing rotation structure, when the drone is worn on the wrist
  • a wear-locked state Fig. 1
  • a deployed flight state Fig. 2
  • the wing arm 2 Rotate and open, the four wings are synchronously rotated to the open state, and the propeller 6 is taken out from the blade storage box 4, and the drone can fly.
  • the propeller 6 is the propeller which is stored in the upper blade storage slot 7 of the fuselage when worn. It is convenient to carry and take out, and the safe placement of the blade when the wrist is worn is convenient to wear.
  • the blade accommodation groove 7 is placed around the blade storage case 4, and before the UAV is flying, the blade 6 is taken out from the blade accommodation groove 7, and then inserted into the motor 3 connection.
  • the invention solves the problem of miniaturization and portability of the aerial drone, and greatly increases the safety. It makes the aerial drone easy to carry, small in size, higher in intelligence level, easier to operate and safer.
  • the invention overcomes the miniaturization of the control software, the miniaturization of the GPS and the lens stabilization technology (implemented by using the pan/tilt method), and uses the one-button retractable design in the structural design, the blade is stopped and the design is stopped, the blade science
  • the storage design makes it possible to drone the drone like a watch.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Toys (AREA)

Abstract

一种可穿戴无人机，包括机身(1)，机身(1)为中空盒体，机身(1)的两侧对称设置有四个能在收纳时向机身(1)中心闭合、飞行时能远离机身(1)中心展开的机翼臂(2)，每侧的两个所述机翼臂(2)连接为一体，所述机翼臂(2)的底端有转轴(2-1)伸入所述机身(1)内并与机身(1)铰接，所述的机身(1)装有控制所述机翼臂(2)动作的收放控制与锁定机构，收放控制与锁定机构具有从所述机身伸出的收放键(5)，所述机翼臂(2)的前端装有电机(3)，电机(3)的动力输出轴上装有桨叶(6)，电机(3)连接电源。该可穿戴无人机通过一键收放结构设计，实现了无人机像手表一样便捷携带。

Description

可穿戴无人机
技术领域
本发明涉及一种便携式无人机， 属于无人机技术领域。
背景技术
现有的四旋翼航拍无人机， 多为 350cm或以上轴距， 携带的飞控、 GPS与三 轴云平台及照相机， 尺寸较大、 无法小型化， 使得携带不方便， 同时由于尺寸较 大很多区域狭小空间如室内无法使用。 而市场上现有小型 （5cm以下轴距） 四旋 翼无人机载重较小， 不能负载专业飞控、 GPS定位等传感器以及高清晰度相机。
发明内容
为了克服上述现有技术的不足之处，本发明提供一种可穿戴无人机， 不仅尺 寸小， 并通过一键收放结构设计， 实现了像手表一样便捷携带。
本发明是通过如下技术方案实现的： 一种可穿戴无人机， 它包括机身， 机身 为中空盒体，机身的两侧对称设置有四个能在收纳时向内机身中心闭合、飞行时 能远离机身中心展开的机翼臂，每侧的两个所述机翼臂连接为一体，所述机翼臂 的底端有转轴伸入所述机身内并与机身铰接，所述的机身装有控制所述机翼臂动 作的收放控制与锁定机构， 收放控制与锁定机构具有从所述机身伸出的收放键， 所述机翼臂的前端装有电机， 电机的动力输出轴上装有桨叶， 电机连接电源。
所述的收放控制与锁定机构包括： 每侧两个所述的机翼臂的转轴中， 一个转 轴上装有齿轮， 另一个转轴上套装有扭簧； 两侧的齿轮相对设置， 两侧的齿轮之 间卡装有制动用的弹片， 弹片担在所述机身内部的弹片架上，所述的收放键具有 能使所述弹片在常态下卡住所述齿轮、而在需要调节时能使弹片中部弯曲两端脱 离齿轮的调节装置。
所述的收放键水平安装在所述机身上， 收放键的杆部与机身滑动副连接， 所 述调节装置是将收放键的杆部制作成变截面轴，变截面轴的截面积从内朝外越来 越大。
所述的收放键水平安装在所述机身上， 收放键的杆部与机身转动副连接， 所 述调节装置是在收放键的杆部具有的调节凸轮或凸起。
所述的收放键竖直安装在所述机身上， 收放键的杆部位于所述弹片的上方， 所述的调节装置是控制所述收放键的杆部升降和复位的装置。
所述的机身上与所述机翼臂闭合方向相反的一面安装有可拆的桨叶收纳盒， 桨叶收纳盒具有四个与所述桨叶适配的桨叶收纳槽，桨叶收纳槽的中部具有兼做 无人机起落架的桨叶收纳槽凸起； 所述桨叶与电机的动力输出轴为可拆连接。
所述的机翼臂制作成在收纳后适于卡装在手腕上的形状。
所述的机身内装有电子调速器、 自动驾驶仪、 全球定位系统、 数据链机载终 端和任务载荷机载设备，所述电机连接所述电子调速器， 电子调速器的信号线与 所述自动驾驶仪相连， 自动驾驶仪与数据链机载终端双向连接。
所述任务载荷机载设备为数据图像传感器， 所述的机身侧部装有摄像头， 所 述数据图像传感器与所述数据链机载终端相连，所述摄像头与所述数据图传设备 相连。
所述的电源为电池， 为所述电机和所有电子设备供电。
本发明的有益效果是： 本发明可穿戴无人机的外形与智能手表相似， 用一键 收放模式实现无人机的穿戴与机翼打开。桨叶在穿戴时收纳于表盘桨叶槽内便于 携带与取出使用。本发明采用一键收放机翼模式，在机身壳内用齿轮和弹簧连接 机翼转轴， 用弹片卡住齿轮， 当按下收放键， 收放键挤压弹片， 弹片向下弯曲， 离开齿轮， 齿轮由于弹簧弹性产生转向运动， 同时带动机翼打开； 松开收放键， 弹片不受挤压再次卡住齿轮则机翼固定，此时从表盘收纳槽内取出桨叶， 安放在 机翼末端的电机上； 当需要收起机翼携带于手腕时， 只需手指同时挤压机翼， 机 翼受力带动齿轮旋转， 齿轮顶开弹片， 当贴近手腕时， 松开手指， 弹片再次卡住 齿轮， 则机翼固定在手腕。
本发明尺寸小巧，佩戴便捷，收放自如，从而有效增加了无人机的应用场景， 适用于人员集中区以及狭小空间或不便于携带普通航拍机如旅游途中，实现想拍 即拍的功能， 不受空间、 人流的限制。
附图说明
下面根据附图和实施例对本发明进一步说明。
图 1 为本发明佩戴状态下的结构示意图；
图 2 为本发明展开飞行状态下的结构示意图；
图 3 为本发明螺旋桨收纳盒结构的示意图； 图 4为本发明一键收放结构示意图；
图 5是本发明收放控制与锁定机构原理图。
图中， 1- 机身、 1-1-弹片架上、 2-机翼臂、 2-1-转轴、 3- 电机、 4-桨叶收 纳盒、 5- 收放键、 6- 桨叶、 7- 桨叶收纳槽、 8-桨叶收纳槽凸起、 9-摄像头、 10-齿轮、 11-扭簧， 12-弹片。
具体实施方式
下面结合实施例对本发明进一步说明。
如图 1-4所示的一种可穿戴无人机， 它包括机身 1， 机身 1为中空盒体， 机 身 1的两侧对称设置有四个能在收纳时向内机身 1中心闭合、飞行时能远离机身 1中心展开的机翼臂 2， 每侧的两个所述机翼臂连接为一体， 所述机翼臂 2的底 端有转轴 2-1伸入所述机身 1内并与机身 1铰接，所述的机身 1装有控制所述机 翼臂 2动作的收放控制与锁定机构，收放控制与锁定机构具有从所述机身 1伸出 的收放键 5， 所述机翼臂 2的前端装有电机 3， 电机 3的动力输出轴上装有桨叶 6， 电机 3连接电源。
如图 4、 图 5所示， 所述的收放控制与锁定机构包括： 每侧两个所述的机翼 臂 2的转轴 2-1中， 一个转轴上装有齿轮 10， 另一个转轴上套装有扭簧 11 ; 两 侧的齿轮 10相对设置， 两侧的齿轮 10之间卡装有制动用的弹片 12， 弹片 12担 在所述机身 1内部的弹片架 1-1上， 所述的收放键 5具有能使所述弹片 12在常 态下卡住所述齿轮 10、而在需要调节时能使弹片 12中部弯曲两端脱离齿轮的调 节装置。 四个机翼臂能够在扭簧 11扭矩的作用下， 绕连接轴机身外侧翻转， 以 实现机翼从手腕处打开； 按压收放键时， 弹片的两端从齿轮处离开， 在扭簧作用 下实现翻转，待翻转到打开状态时，松开收放键，弹片重新夹住齿轮，机翼锁定。
所述的收放键 5水平安装在所述机身 1上， 收放键 5的杆部与机身 1滑动副 连接，所述调节装置是将收放键 5的杆部制作成变截面轴，变截面轴的截面积从 内朝外越来越大。 本实施例通过伸缩收放键 5达到控制弹片弯曲度的作用。
所述的收放键 5水平安装在所述机身 1上， 收放键 5的杆部与机身 1转动副 连接，所述调节装置是在收放键 5的杆部具有的调节凸轮或凸起。本实施例通过 转动放键 5达到控制弹片弯曲度的作用。
所述的收放键 5竖直安装在所述机身 1上，收放键 5的杆部位于所述弹片 12 的上方，所述的调节装置是控制所述收放键 5的杆部升降和复位的装置。本实施 例通过按压收放键 5达到控制弹片弯曲度的作用。
所述的机身 1上与所述机翼臂 2闭合方向相反的一面安装有可拆的桨叶收纳 盒 4， 桨叶收纳盒 4具有四个与所述桨叶 6适配的桨叶收纳槽 7， 桨叶收纳槽 7 的中部具有兼做无人机起落架的桨叶收纳槽凸起 8; 所述桨叶 6与电机 3的动力 输出轴为可拆连接。本实施例所述桨叶 6飞行时设置在电机的枢轴上，佩戴时放 置于机身上方的桨叶收纳盒 4内。 中间凸起可将螺旋桨凸起部位轻松放入， 凸起 部分也可作为无人机降落时的起落架。
所述的机翼臂 2制作成在收纳后适于卡装在手腕上的形状。可以是弧形或直 弯形。
所述的机身 1内装有电子调速器、 自动驾驶仪、 全球定位系统、 数据链机载 终端和任务载荷机载设备，所述电机 3连接所述电子调速器， 电子调速器的信号 线与所述自动驾驶仪相连， 自动驾驶仪与数据链机载终端双向连接。
所述任务载荷机载设备为数据图像传感器，所述的机身 1侧部装有摄像头 9， 所述数据图像传感器与所述数据链机载终端相连，所述摄像头 9与所述数据图传 设备相连。
所述的电源为电池， 为所述电机 3和所有电子设备供电。
本发明原理是： 如图 1、 图 4、 图 5所示， 本发明可穿戴无人机的外形与智 能手表相似， 用一键收放模式实现无人机的穿戴与机翼打开。桨叶在穿戴时收纳 于表盘桨叶槽内便于携带与取出使用。本发明采用一键收放机翼模式，在机身壳 内用齿轮和弹簧连接机翼转轴， 用弹片卡住齿轮， 当按下收放键， 收放键挤压弹 片， 弹片向下弯曲， 离开齿轮， 齿轮由于弹簧弹性产生转向运动， 同时带动机翼 打开； 松开收放键， 弹片不受挤压再次卡住齿轮则机翼固定， 此时从表盘收纳槽 内取出桨叶， 安放在机翼末端的电机上； 当需要收起机翼携带于手腕时， 只需手 指同时挤压机翼， 机翼受力带动齿轮旋转， 齿轮顶开弹片， 当贴近手腕时， 松开 手指， 弹片再次卡住齿轮， 则机翼固定在手腕。
参见图 1和图 2该可穿戴无人机有两种状态： 穿戴锁定状态 （图 1 )和展开 飞行状态 （图 2)， 通过机翼旋转结构来实现， 当所述无人机穿戴于手腕时， 所 述机翼臂 2处于锁定状态， 紧贴于手腕； 当所述无人机需要进行飞行时， 机翼臂 2可旋转打开， 四个机翼被同步旋转至打开状态， 从桨叶收纳盒 4内取出螺旋桨 6安装后无人机即可飞行。
参见图 3桨叶 6即螺旋桨在穿戴时收纳于机身上方桨叶收纳槽 7内便于携带 与取出使用， 便于佩戴手腕时桨叶的安全放置使得佩戴更舒适。 桨叶收纳槽 7 置于桨叶收纳盒 4四周边， 无人机飞行前， 将桨叶 6从桨叶收纳槽 7内取出后， 插在电机 3连接处。
本发明解决了航拍无人机小型化、 便携性的难题、 大大增加了安全性。 使得 航拍无人机便于携带、 尺寸小、 智能化水平更高、 操控更简易、 安全性更高。 本 发明克服了操控软件小型化， GPS小型化以及镜头增稳技术（不使用云台的方式 实现）， 同时在结构设计上使用一键收放设计， 桨叶遇物即停设计， 桨叶科学收 纳设计， 使得无人机像手表一样可穿戴成为可能。

Claims

权 利 要 求 书
1、 一种可穿戴无人机， 其特征在于： 它包括机身 （1)， 机身 （1)为中空盒 体， 机身 （1) 的两侧对称设置有四个能在收纳时向内机身 （1) 中心闭合、 飞行 时能远离机身（1) 中心展开的机翼臂（2)， 每侧的两个所述机翼臂连接为一体， 所述机翼臂（2)的底端有转轴（2-1)伸入所述机身（1) 内并与机身（1)铰接， 所述的机身 （1)装有控制所述机翼臂 （2)动作的收放控制与锁定机构， 收放控 制与锁定机构具有从所述机身 （1)伸出的收放键（5)， 所述机翼臂 （2) 的前端 装有电机 （3)， 电机 （3) 的动力输出轴上装有桨叶 （6)， 电机 （3) 连接电源。
2、 根据权利要求 1所述的可穿戴无人机， 其特征在于： 所述的收放控制与 锁定机构包括： 每侧两个所述的机翼臂 （2) 的转轴 （2-1) 中， 一个转轴上装有 齿轮 （10)， 另一个转轴上套装有扭簧（11); 两侧的齿轮 （10)相对设置， 两侧 的齿轮 （10)之间卡装有制动用的弹片 （12)， 弹片 （12)担在所述机身 （1) 内 部的弹片架 （1-1) 上， 所述的收放键 （5) 具有能使所述弹片 （12) 在常态下卡 住所述齿轮 （10)、 而在需要调节时能使弹片 （12) 中部弯曲两端脱离齿轮的调 节装置。
3、 根据权利要求 2所述的可穿戴无人机， 其特征在于： 所述的收放键 （5) 水平安装在所述机身 （1) 上， 收放键 （5) 的杆部与机身 （1) 滑动副连接， 所 述调节装置是将收放键 （5) 的杆部制作成变截面轴， 变截面轴的截面积从内朝 外越来越大。
4、 根据权利要求 2所述的可穿戴无人机， 其特征在于： 所述的收放键 （5) 水平安装在所述机身 （1) 上， 收放键 （5) 的杆部与机身 （1) 转动副连接， 所 述调节装置是在收放键 （5) 的杆部具有的调节凸轮或凸起。
5、 根据权利要求 2所述的可穿戴无人机， 其特征在于： 所述的收放键 （5) 竖直安装在所述机身 （1) 上， 收放键 （5) 的杆部位于所述弹片 （12) 的上方， 所述的调节装置是控制所述收放键 （5) 的杆部升降和复位的装置。
6、根据权利要求 1或 2所述的可穿戴无人机， 其特征在于： 所述的机身（1) 上与所述机翼臂 （2) 闭合方向相反的一面安装有可拆的桨叶收纳盒 （4)， 桨叶 收纳盒（4)具有四个与所述桨叶 （6)适配的桨叶收纳槽（7)， 桨叶收纳槽（7) 的中部具有兼做无人机起落架的桨叶收纳槽凸起（8); 所述桨叶（6)与电机（3) 的动力输出轴为可拆连接。
7、 根据权利要求 1所述的可穿戴无人机， 其特征在于： 所述的机翼臂 （2 ) 制作成在收纳后适于卡装在手腕上的形状。
8、 根据权利要求 1所述的可穿戴无人机， 其特征在于： 所述的机身 （1 ) 内 装有电子调速器、 自动驾驶仪、全球定位系统、数据链机载终端和任务载荷机载 设备， 所述电机 （3 ) 连接所述电子调速器， 电子调速器的信号线与所述自动驾 驶仪相连， 自动驾驶仪与数据链机载终端双向连接。
9、 根据权利要求 8所述的可穿戴无人机， 其特征在于： 所述任务载荷机载 设备为数据图像传感器， 所述的机身 （1 ) 侧部装有摄像头 （9)， 所述数据图像 传感器与所述数据链机载终端相连， 所述摄像头（9)与所述数据图传设备相连。
10、根据权利要求 1所述的可穿戴无人机， 其特征在于：所述的电源为电池， 为所述电机 （3 ) 和所有电子设备供电。
PCT/CN2016/100943 2015-12-10 2016-09-29 可穿戴无人机 WO2017097021A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510915875.9 2015-12-10
CN201510915875.9A CN105416578B (zh) 2015-12-10 2015-12-10 可穿戴无人机

Publications (1)

Publication Number Publication Date
WO2017097021A1 true WO2017097021A1 (zh) 2017-06-15

Family

ID=55495218

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/100943 WO2017097021A1 (zh) 2015-12-10 2016-09-29 可穿戴无人机

Country Status (2)

Country Link
CN (1) CN105416578B (zh)
WO (1) WO2017097021A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110825096A (zh) * 2019-10-23 2020-02-21 军事科学院军事医学研究院环境医学与作业医学研究所 适用全天候水质监测的报警平台
CN112572764A (zh) * 2020-12-24 2021-03-30 中国航天空气动力技术研究院 一种可控展开的大展弦比无人机机翼旋转折叠机构
CN113625294A (zh) * 2021-08-06 2021-11-09 凡光光电科技(绍兴)有限公司 一种适用于无人机的微型激光测距机
EP4015378A1 (en) * 2020-09-17 2022-06-22 Laura Leigh Donovan Personal paparazzo drones

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105416578B (zh) * 2015-12-10 2017-04-12 江苏唯天智能无人机研发有限公司 可穿戴无人机
CN105912022B (zh) * 2016-05-31 2019-03-08 王翔 一种手表无人机
CN105955297B (zh) * 2016-05-31 2019-03-08 王翔 一种手表拍照无人机
WO2018018632A1 (zh) * 2016-07-29 2018-02-01 深圳市大疆创新科技有限公司 无人飞行器的控制方法、装置、存储介质及无人飞行器
CN106094857A (zh) * 2016-08-22 2016-11-09 京东方科技集团股份有限公司 无人机、穿戴设备及无人机的飞行控制方法、装置
CN106547277A (zh) * 2017-01-16 2017-03-29 广东容祺智能科技有限公司 一种基于物联网的可穿戴微型无人机系统
CN108513562B (zh) * 2017-03-15 2022-03-18 深圳市大疆创新科技有限公司 无人飞行器的推进系统、联接螺旋桨的方法、以及无人飞行器
CN107581750A (zh) * 2017-10-12 2018-01-16 湖州搜尚服饰贸易有限公司 一种发箍
US10798237B2 (en) 2018-10-28 2020-10-06 International Business Machines Corporation Automated individual security
CN109896032B (zh) * 2019-02-28 2022-05-17 东华大学 一种腕带式二轴拍照无人机
CN113525674A (zh) * 2021-04-12 2021-10-22 北京理工大学 一种可变形穿戴式手环无人机

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120056041A1 (en) * 2010-09-02 2012-03-08 Dream Space World Corporation Unmanned Flying Vehicle Made With PCB
US20120232718A1 (en) * 2011-03-08 2012-09-13 Parrot Method of piloting a multiple rotor rotary-wing drone to follow a curvilinear turn
US8322648B2 (en) * 2008-05-15 2012-12-04 Aeryon Labs Inc. Hovering aerial vehicle with removable rotor arm assemblies
CN104816825A (zh) * 2015-04-13 2015-08-05 北京航空航天大学 一种伸缩折展旋翼
CN204548479U (zh) * 2015-03-24 2015-08-12 陈灵峰 一种多轴飞行器的折叠件
CN204563604U (zh) * 2014-12-29 2015-08-19 沈晓晖 可穿戴四轴飞行器
CN204701765U (zh) * 2015-06-03 2015-10-14 江苏数字鹰科技发展有限公司 带旋翼与悬臂收放的多旋翼飞行器
CN105416578A (zh) * 2015-12-10 2016-03-23 江苏唯天智能无人机研发有限公司 可穿戴无人机
CN205186522U (zh) * 2015-12-10 2016-04-27 江苏唯天智能无人机研发有限公司 可穿戴无人机

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101992854B (zh) * 2010-11-03 2012-11-07 中国科学院长春光学精密机械与物理研究所 一种可折叠的六轴多旋翼飞行器
US9573683B2 (en) * 2014-04-28 2017-02-21 Arch-Aerial, Llc Collapsible multi-rotor UAV

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8322648B2 (en) * 2008-05-15 2012-12-04 Aeryon Labs Inc. Hovering aerial vehicle with removable rotor arm assemblies
US20120056041A1 (en) * 2010-09-02 2012-03-08 Dream Space World Corporation Unmanned Flying Vehicle Made With PCB
US20120232718A1 (en) * 2011-03-08 2012-09-13 Parrot Method of piloting a multiple rotor rotary-wing drone to follow a curvilinear turn
CN204563604U (zh) * 2014-12-29 2015-08-19 沈晓晖 可穿戴四轴飞行器
CN204548479U (zh) * 2015-03-24 2015-08-12 陈灵峰 一种多轴飞行器的折叠件
CN104816825A (zh) * 2015-04-13 2015-08-05 北京航空航天大学 一种伸缩折展旋翼
CN204701765U (zh) * 2015-06-03 2015-10-14 江苏数字鹰科技发展有限公司 带旋翼与悬臂收放的多旋翼飞行器
CN105416578A (zh) * 2015-12-10 2016-03-23 江苏唯天智能无人机研发有限公司 可穿戴无人机
CN205186522U (zh) * 2015-12-10 2016-04-27 江苏唯天智能无人机研发有限公司 可穿戴无人机

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110825096A (zh) * 2019-10-23 2020-02-21 军事科学院军事医学研究院环境医学与作业医学研究所 适用全天候水质监测的报警平台
CN110825096B (zh) * 2019-10-23 2023-07-25 军事科学院军事医学研究院环境医学与作业医学研究所 适用全天候水质监测的报警平台
EP4015378A1 (en) * 2020-09-17 2022-06-22 Laura Leigh Donovan Personal paparazzo drones
CN112572764A (zh) * 2020-12-24 2021-03-30 中国航天空气动力技术研究院 一种可控展开的大展弦比无人机机翼旋转折叠机构
CN113625294A (zh) * 2021-08-06 2021-11-09 凡光光电科技(绍兴)有限公司 一种适用于无人机的微型激光测距机
CN113625294B (zh) * 2021-08-06 2023-09-12 凡光光电科技(绍兴)有限公司 一种适用于无人机的微型激光测距机

Also Published As

Publication number Publication date
CN105416578A (zh) 2016-03-23
CN105416578B (zh) 2017-04-12

Similar Documents

Publication Publication Date Title
WO2017097021A1 (zh) 可穿戴无人机
US10793270B2 (en) Foldable UAV
US20210371081A1 (en) Air-Launched Unmanned Aerial Vehicle
KR102542278B1 (ko) 무인 비행 시스템 및 무인 비행 시스템을 위한 제어 시스템
WO2019024541A1 (zh) 一种机臂及无人机
KR101456035B1 (ko) 멀티로터형 무인비행기의 로터암장치
CN112937836A (zh) 使用机架的无人机
US20200140085A1 (en) Portable integrated uav
US11267568B2 (en) Aerial system including foldable frame architecture
US10974825B2 (en) Aerial system including foldable frame architecture
US11530025B2 (en) Foldable rotor blade assembly and aerial vehicle with a foldable rotor blade assembly
WO2019128401A1 (zh) 起落架及具有该起落架的无人飞行器
WO2018095214A1 (zh) 无人飞行器及其起落架装置
CN108994873A (zh) 用于无人机的机械手和无人机
CN207644617U (zh) 一种紧凑型多旋翼自拍无人机
CN205186522U (zh) 可穿戴无人机
CN208102317U (zh) 一种具有抗震防摔的航拍无人机
CN106516140A (zh) 一种具有航拍功能的飞行器
WO2019137078A1 (zh) 无人飞行器
CN108860561A (zh) 一种用于低空监控的新型航拍设备
KR102237417B1 (ko) 휴대용 스마트기기와 유선으로 연결되는 드론 시스템
CN109606662B (zh) 一种可折的四旋翼无人机
CN206782048U (zh) 一种可折叠无人机
CN205770113U (zh) 无人机预紧折叠件
CN109896032B (zh) 一种腕带式二轴拍照无人机

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16872216

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16872216

Country of ref document: EP

Kind code of ref document: A1