WO2017173725A1 - 一种具有联动折叠结构的无人机 - Google Patents

一种具有联动折叠结构的无人机 Download PDF

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Publication number
WO2017173725A1
WO2017173725A1 PCT/CN2016/085189 CN2016085189W WO2017173725A1 WO 2017173725 A1 WO2017173725 A1 WO 2017173725A1 CN 2016085189 W CN2016085189 W CN 2016085189W WO 2017173725 A1 WO2017173725 A1 WO 2017173725A1
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WIPO (PCT)
Prior art keywords
landing gear
arm
rotating
rotating structure
hinged
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PCT/CN2016/085189
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English (en)
French (fr)
Inventor
鲍静云
刘双
殷兰兰
Original Assignee
深圳市龙云创新航空科技有限公司
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Publication of WO2017173725A1 publication Critical patent/WO2017173725A1/zh

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    • 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

Definitions

  • the invention relates to a linkage folding structure, and to a drone using the folding structure.
  • Multi-rotor UAV is a commonly used drone.
  • the utility model has the advantages of simple structure, stable flight, simple operation and the like.
  • the aircraft needs to extend the arm to install the power device and the propeller, which easily causes the overall volume to be too large, thereby affecting carrying and storing.
  • the prior art although there is a foldable A drone, however, it is usually only capable of folding the arm.
  • For the landing gear it is still necessary to disassemble it separately, or directly use a fixed landing gear, which still causes inconvenience to the actual use.
  • the utility model relates to a drone with a linked folding structure, which can reduce the overall volume by folding, and is convenient for storage and transportation of the drone; can realize rapid switching of the drone from the folded state to the unfolded state, and reduce the drone before taking off. Preparation time and recovery time after the job is completed.
  • a drone having a linked folding structure comprising a base and a plurality of arms and landing gears distributed along the circumference of the base, further comprising a connecting rod, the number of the arm and the landing gear being equal, and the tail end of the arm a first rotating structure is provided, and a second rotating structure is disposed on a side of the first rotating structure facing the head end of the arm, and a tail end of the landing gear is provided with a third rotating structure, and the third rotating structure faces the side of the head end of the landing gear
  • the fourth rotating structure is provided, and the arm and the landing gear are respectively hinged on the base by the second and fourth rotating structures, and the connecting rod is respectively connected with the arm and the landing gear through the first and third rotating structures to form a connection.
  • a lever mechanism having a folded state and an unfolded state and switchable between the two states
  • the arm When it is in a folded state, the arm is placed vertically with the landing gear;
  • the arm When it is in the unfolded state, the arm is placed horizontally, and the head end of the landing gear is flared outward to tilt the landing gear.
  • the arm and the landing gear are both in a vertical state, and the height of the third rotating structure is lower than the first rotating structure and higher than the second rotating structure.
  • the first and second rotating structures are through holes disposed on the arm and perpendicular to the longitudinal direction of the arm, and the third and fourth rotating structures are disposed on the landing gear and perpendicular to the landing gear. Through holes in the length direction.
  • two ends of the arm and the landing gear are extended with two hinged ears arranged in parallel, and the hinged ears have a gap therebetween, and the hinged ears of the arm are respectively provided with two lengths along the length direction.
  • the through hole is used as the first and second rotating structures, and the through hole of the landing gear is provided with a through hole as a third rotating structure, and a through hole is provided at the position of the landing gear lower than the hinged ear as the fourth Rotating structure, two ends of the connecting rod are provided with through holes, which are respectively inserted into the gap between the arm and the hinged lug on the landing gear and connected by the rotating shaft, and the horizontal seat groove is arranged on the base, concave A hole is formed in the left and right side walls of the slot, and the through hole as the first rotating structure on the arm and the through hole as the third rotating structure on the landing gear are respectively aligned with the holes in the side wall of the groove and connected through the rotating shaft.
  • the arm and the landing gear are both four, and are evenly distributed along the circumferential direction of the base.
  • the overall volume can be reduced by folding, which is convenient for the storage and transportation of the drone; the rapid switching of the drone from the folded state to the unfolded state can be realized, and the preparation time before the drone takes off and the recovery time after the completion of the operation can be reduced.
  • Figure 1 is a perspective view of the embodiment of the present invention in a folded state
  • Figure 2 is a perspective view of the embodiment of the present invention in an unfolded state
  • Figure 3 is an exploded perspective view of one embodiment of the present invention.
  • Figure 4 is a schematic view of the mechanism in a folded state according to an embodiment of the present invention.
  • Figure 5 is a schematic diagram of the mechanism in an intermediate state according to an embodiment of the present invention.
  • Figure 6 is a schematic diagram of the mechanism in an unfolded state in accordance with one embodiment of the present invention.
  • FIG. 1 there is shown a perspective view of a folded state of an embodiment of the present invention, including a base 100, a boom 200, a landing gear 300, a link 400, a propeller 500, and a motor 600.
  • the base 100 is a load-bearing structure of the drone. In the present embodiment, it is preferably an approximately rectangular block structure. Of course, it may be other common shapes as needed.
  • the arm 200 is used to support the propeller 500 and the drive motor 600, which are distributed along the circumferential direction of the base 100, preferably a long rod structure.
  • the head end of the long rod also has a pie-shaped mount for fixing the drive motor 600.
  • the number of the landing gears 300 should be equal to that of the arm 200, which is disposed at the bottom of the base 100 to support the entire drone.
  • the connecting rods 400 are respectively connected with the arm 200 and the landing gear 300 to form a connection.
  • the lever mechanism is such that the landing gear 300 can be coupled to the arm 200.
  • both the arm 200 and the landing gear 300 are four, and are evenly distributed along the circumferential direction of the base 100.
  • both the arm 200 and the landing gear 300 are in a vertical state, thereby greatly reducing the overall volume of the drone, and facilitating the storage and transportation of the drone.
  • the above vertical state should not be strictly perpendicular to The meaning of the horizontal plane is understood to allow the arm 200 to float with the landing gear 300 over a smaller range of angles.
  • FIG 2 there is shown a perspective view of an unfolded state of an embodiment of the present invention, in which the arm 200 is in a horizontal state, i.e., in an operational state, while the head end of the landing gear 300 is flared outwardly to cause the landing gear 300 to be tilted.
  • the above horizontal state should not be understood strictly in terms of parallel to the horizontal plane, which may allow the arm 200 and the landing gear 300 to float within a small angular range.
  • head end and the tail end in the present invention is as follows: one end of the arm 200 and the landing gear 300 connected to the connecting rod is called a tail end, one end of the arm 200 connected to the driving motor 600 and one end of the landing gear 300 contacting the ground are called For the first end, the same below.
  • FIG. 3 is an exploded perspective view of an embodiment of the present invention. Only the base and the side arm, the connecting rod and the landing gear are shown.
  • the front end of the arm 200 protrudes from two parallelly arranged hinged ears.
  • the sheet 201 has a gap between the hinged ears 201, and the hinged ears 201 are provided with a through hole 202 and a through hole 203 along the end of the arm 200 to the leading end.
  • the through hole 202 and the through hole 203 are perpendicular to the arm 200. The length direction.
  • the first end of the landing gear 300 protrudes from two parallelly arranged hinged ears 301, and the hinged ears 301 have a gap therebetween, and the hinged ears 301 are provided with through holes 302, and the landing gear 300 is lower than the hinge
  • the position of the tab 301 is provided with a through hole 303, and both the through hole 302 and the through hole 303 are perpendicular to the longitudinal direction of the landing gear 300.
  • the two ends of the connecting rod 400 are provided with through holes respectively inserted into the gap between the hinged piece 201 and the hinged piece 301 and connected by a rotating shaft (not shown), and the horizontal position of the base 100 is provided.
  • the groove 101 in the direction, the left and right side walls of the groove 101 are provided with holes 102, the through holes 203 on the arm 200 and the through holes 303 on the landing gear are respectively aligned with the holes 102 and passed through the rotating shaft (not shown in the drawing)
  • the connection is such that the arm 200 and the base 100, between the landing gear 300 and the base 100, between the arm 200 and the link 400, and between the landing gear 300 and the link 400 are free to rotate.
  • the hinge between the base 100, the arm 200, the landing gear 300 and the connecting rod 400 can also be modified.
  • a rotating shaft can be fixed on the arm 200, and the base 100 can be connected.
  • the rod 400 is correspondingly provided with a rotating shaft hole, or a rotating shaft is arranged on the base 100 and the connecting rod 400, and a rotating shaft hole is arranged on the arm 200, or any combination; in addition, the two ends of the connecting rod 400 may be hinged.
  • the ear piece, the arm 200 and the landing gear 300 are respectively hinged with the hinged ears on the connecting rod, and the above-mentioned rotating shaft, the rotating shaft hole or the through hole is the rotating structure described in the claims.
  • FIG. 4 there is shown a schematic diagram of the mechanism of the folded state of the present invention, in which the scale does not represent the actual ratio, wherein the rotating pairs A, B, C, and D represent the through hole 203, the through hole 202, the through hole 302, and the through hole, respectively.
  • 303, L1, L2 and L3 respectively represent the arm 200, the connecting rod 400 and the landing gear 300
  • the dashed round frame respectively represents the radius of rotation of the AB end and the radius of rotation of the CD end
  • the arrow indicates the direction in which the corresponding member can rotate, as shown in the figure.
  • FIG. 5 there is shown a schematic diagram of the mechanism in the intermediate state of the present invention.
  • the tail end pushes the link 400 to move toward the side of the landing gear 300 (left side in the figure).
  • the trailing end of the landing gear 300 is pushed to rotate about the rotating pair D.
  • FIG. 6 there is shown a schematic diagram of the mechanism in which the present invention is in an unfolded state, in which the arm 200 is already in a horizontal state, the link 400 is collinear with the arm 200, and the degree of inclination of the landing gear 300 is maximized.
  • the utility model has the following advantages: when the drone needs to be stored and transported, the arm is folded down until it is in a vertical state, and the landing gear is also in a vertical state; when the drone needs to work, the upper puller is driven.
  • the arm changes from a vertical state to a horizontal state, and the landing gear is opened outward by the connecting rod to support the drone.
  • the length of the arm, the length of the link, the length of the landing gear, the distance between the through holes on the arm, and the distance between the through holes on the landing gear are not limited, and can be adjusted according to actual conditions. Different effects, such as, but not limited to, adjusting the angle between the landing gear and the horizontal plane in the unfolded state.

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

Abstract

一种具有联动折叠结构的无人机，包括机座（100），与沿该机座（100）周向分布的若干机臂（200）与起落架（300），还包括连杆（400），机臂（200）与起落架（300）的数量对应相等，机臂（200）的尾端设有第一转动结构，在第一转动结构朝向机臂（200）首端的一侧设有第二转动结构，起落架（300）的尾端设有第三转动结构，在第三转动结构朝向起落架（300）首端的一侧设有第四转动结构，机臂（200）、起落架（300）分别通过第二、第四转动结构铰接在机座（100）之上，连杆（400）通过第一、第三转动结构分别与机臂（200）、起落架（300）铰接以形成一连杆机构，该连杆机构具有折叠状态与展开状态并可在两种状态之间转换；该无人机可以通过折叠缩小整体体积，便于无人机的存储与运输；可以实现无人机从折叠状态至展开状态的快速切换。

Description

一种具有联动折叠结构的无人机
技术领域
本发明涉及一种联动折叠结构，还涉及一种应用该折叠结构的无人机。
背景技术
随着技术的进步，无人机近年来得到了飞速的发展，其广泛应用于航拍、农业、植保、快递运输、灾难救援等各个领域，其中多旋翼无人机是一种常用的无人机，具有结构简单、飞行稳定、操作简单等优点，然而这种飞行器需要伸出机臂来安装动力装置及螺旋桨，很容易造成整体体积过大，从而影响携带与存放，现有技术中虽然存在可折叠式的无人机，然而其通常仅能够折叠机臂，对于起落架而言还是需要单独拆装，或者直接采用固定式起落架，这仍然会给实际使用带来不便。
发明内容
为了克服现有技术的不足，本发明提供 一种具有联动折叠结构的无人机，其可以通过折叠缩小整体体积，便于无人机的存储与运输；可以实现无人机从折叠状态至展开状态的快速切换，减少无人机起飞前的准备时间以及作业完成后的回收时间。
本发明解决其技术问题所采用的技术方案是：
一种具有联动折叠结构的无人机，包括机座与沿该机座周向分布的若干机臂与起落架，还包括连杆，机臂与起落架的数量对应相等，机臂的尾端设有第一转动结构，在第一转动结构朝向机臂首端的一侧设有第二转动结构，起落架的尾端设有第三转动结构，在第三转动结构朝向起落架首端的一侧设有第四转动结构，机臂、起落架分别通过第二、第四转动结构铰接在机座之上，连杆通过第一、第三转动结构分别与机臂、起落架铰接以形成一连杆机构，该连杆机构具有折叠状态与展开状态并可在两种状态之间转换，
其中
当其处于折叠状态时，机臂与起落架竖直放置；
当其处于展开状态时，机臂水平放置，起落架的首端向外侧张开以使起落架倾斜放置。
作为上述方案的进一步改进方式，无人机处于折叠状态时，机臂与起落架均处于竖直状态，第三转动结构的高度低于第一转动结构且高于第二转动结构。
作为上述方案的进一步改进方式，无人机处于展开状态时，连杆与机臂共线且处于水平状态。
作为上述方案的进一步改进方式，第一、第二转动结构为设置在机臂上且垂直于机臂长度方向的通孔，第三、第四转动结构为设置在起落架上且垂直于起落架长度方向的通孔。
作为上述方案的进一步改进方式，机臂与起落架的首端均伸出有两片平行设置的铰接耳片，铰接耳片之间具有空隙，机臂的铰接耳片上沿长度方向分别设有两处通孔以作为第一、第二转动结构，起落架的铰接耳片上设有一处通孔以作为第三转动结构，起落架上低于铰接耳片的位置设有一处通孔以作为第四转动结构，连杆的两端设有通孔，其分别插接在机臂与起落架上的铰接耳片之间的间隙内并通过转轴连接，机座上设有水平方向的凹槽，凹槽的左右侧壁上设有孔，机臂上作为第一转动结构的通孔以及起落架上作为第三转动结构的通孔分别与凹槽侧壁上的孔对正并通过转轴连接。
作为上述方案的进一步改进方式，机臂与起落架均为四个，沿机座的周向均匀分布。
本发明的有益效果是：
可以通过折叠缩小整体体积，便于无人机的存储与运输；可以实现无人机从折叠状态至展开状态的快速切换，减少无人机起飞前的准备时间以及作业完成后的回收时间。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1是本发明一个实施例的处于折叠状态时的立体示意图；
图2是本发明一个实施例的处于展开状态时的立体示意图；
图3是本发明一个实施例的分解示意图；
图4是本发明一个实施例的处于折叠状态时的机构简图；
图5是本发明一个实施例的处于中间状态时的机构简图；
图6是本发明一个实施例的处于展开状态时的机构简图。
具体实施方式
以下将结合实施例和附图对本发明的构思、具体结构及产生的技术效果进行清楚、完整的描述，以充分地理解本发明的目的、方案和效果。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，如无特殊说明，当某一特征被称为“固定”、“连接”在另一个特征，它可以直接固定、连接在另一个特征上，也可以间接地固定、连接在另一个特征上。此外，本发明中所使用的上、下、左、右等描述仅仅是相对于附图中本发明各组成部分的相互位置关系来说的。
此外，除非另有定义，本文所使用的所有的技术和科学术语与本技术领域的技术人员通常理解的含义相同。本文说明书中所使用的术语只是为了描述具体的实施例，而不是为了限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的组合。
参照图1，示出了本发明一个实施例折叠状态的立体示意图，包括机座100、机臂200、起落架300、连杆400、螺旋桨500与电机600。
机座100作为无人机的承载结构，在本实施例中优选为一近似矩形的块状结构，当然其根据需要也可以是其它常见的形状。
机臂200用于支撑螺旋桨500与驱动电机600，其沿机座100的周向分布，优选为一长杆结构，长杆的首端还具有一饼状的用于固定驱动电机600的安装座，起落架300的数量应与机臂200对应相等，其设置在机座100的底部以起到支撑整个无人机的作用，连杆400分别与机臂200、起落架300连接以形成一连杆机构，以使起落架300可与机臂200联动。
优选的，本实施例中机臂200与起落架300均为四个，沿机座100的周向均匀分布。
无人机在处于折叠状态时机臂200与起落架300均处于竖直状态，从而大大缩小无人机的整体体积，便于无人机的存储与运输，上述的竖直状态不应该严格按照垂直于水平面的意思理解，其可以允许机臂200与起落架300在一较小的角度范围内浮动。
参照图2，示出了本发明一个实施例展开状态的立体示意图，此时机臂200处于水平状态，也即工作状态，同时起落架300的首端向外侧张开以使起落架300处于倾斜状态，便于更好的支撑无人机，类似的，上述的水平状态也不应该严格按照平行于水平面的意思理解，其可以允许机臂200与起落架300在一较小的角度范围内浮动。本发明中关于首端与尾端的定义如下：机臂200与起落架300与连杆连接的一端称为尾端，机臂200与驱动电机600连接的一端以及起落架300与地面接触的一端称为首端，下同。
参照图3，为本发明一个实施例的分解示意图，图中仅示出了机座与一侧机臂、连杆、起落架，机臂200的首端伸出有两片平行设置的铰接耳片201，铰接耳片201之间具有空隙，同时铰接耳片201沿机臂200尾端至首端的方向设有通孔202与通孔203，通孔202与通孔203均垂直于机臂200的长度方向。
类似的，起落架300的首端伸出有两片平行设置的铰接耳片301，铰接耳片301之间具有空隙，同时铰接耳片301上设有通孔302，起落架300上低于铰接耳片301的位置设有通孔303，通孔302与通孔303均垂直于起落架300的长度方向。
连杆400的两端设有通孔，其分别插接在铰接耳片201与铰接耳片301之间的间隙内并通过转轴（图中未示出）连接，同时机座100上设有水平方向的凹槽101，凹槽101的左右侧壁上设有孔102，机臂200上的通孔203以及起落架上的通孔303分别与孔102对正并通过转轴（图中未示出）连接，如此机臂200与机座100之间、起落架300与机座100之间、机臂200与连杆400之间以及起落架300与连杆400之间均可自由转动。
除上述的实施例之外，机座100、机臂200、起落架300与连杆400之间的铰接还可以采用其他的变形，如可在机臂200上固定一转轴，机座100与连杆400上对应设有转轴孔，或者在机座100与连杆400上设置转轴而在机臂200上设置转轴孔，或者任意的组合；此外，也可以是连杆400的两端设有铰接耳片，机臂200与起落架300分别与连杆上的铰接耳片铰接，上述的转轴、转轴孔或者通孔即为权利要求中所述的转动结构。
参照图4，示出了本发明折叠状态的机构简图，图中比例不代表实际比例，其中转动副A、B、C、D分别代表通孔203、通孔202、通孔302与通孔303，L1、L2与L3分别代表机臂200、连杆400与起落架300，虚线圆框分别代表AB端的转动半径与CD端的转动半径，箭头表示相应构件可发生转动的方向，如图所示，无人机在折叠状态时机臂200与起落架300均处于竖直状态，同时通孔302的高度低于通孔202且高于通孔203。
参照图5，示出了本发明处于中间状态的机构简图，随着机臂200的逐步抬起，其尾端推动连杆400向起落架300一侧运动（图中为左侧），进而推动起落架300的尾端绕转动副D转动。
参照图6，示出了本发明处于展开状态的机构简图，此时机臂200已经处于水平状态，连杆400与机臂200共线，同时起落架300的倾斜程度最大。
本发明的实用方式为：当无人机需要存储与运输时，将机臂向下折叠直至处于竖直状态，起落架同时也联动处于竖直状态；当无人机需要工作时，向上扳动机臂使其由竖直状态转变为水平状态，起落架则在连杆的带动下向外侧张开，支撑无人机。
可以理解的是，本发明中对于机臂长度、连杆长度、起落架长度以及机臂上通孔间的距离、起落架上通孔间的距离不做限定，其可以结合实际情况调整以实现不同的效果，如包括但不限于调整起落架在展开状态下与水平面的夹角大小。
以上是对本发明的较佳实施进行了具体说明，但本发明创造并不限于所述实施例，熟悉本领域的技术人员在不违背本发明精神的前提下还可做出种种的等同变形或替换，这些等同的变形或替换均包含在本申请权利要求所限定的范围内。

Claims (6)

  1. 一种具有联动折叠结构的无人机，包括机座与沿该机座周向分布的若干机臂与起落架，其特征在于：还包括连杆，所述机臂与起落架的数量对应相等，所述机臂的尾端设有第一转动结构，在所述第一转动结构朝向所述机臂首端的一侧设有第二转动结构，所述起落架的尾端设有第三转动结构，在所述第三转动结构朝向所述起落架首端的一侧设有第四转动结构，所述机臂、起落架分别通过所述第二、第四转动结构铰接在所述机座之上，所述连杆通过所述第一、第三转动结构分别与所述机臂、起落架铰接以形成一连杆机构，该连杆机构具有折叠状态与展开状态并可在两种状态之间转换，
    其中
    当其处于折叠状态时，所述机臂与起落架竖直放置；
    当其处于展开状态时，所述机臂水平放置，所述起落架的首端向外侧张开以使起落架倾斜放置。
  2. 根据权利要求1所述的具有联动折叠结构的无人机，其特征在于：所述无人机处于折叠状态时，所述机臂与起落架均处于竖直状态，所述第三转动结构的高度低于所述第一转动结构且高于所述第二转动结构。
  3. 根据权利要求1所述的具有联动折叠结构的无人机，其特征在于：所述无人机处于展开状态时，所述连杆与机臂共线且处于水平状态。
  4. 根据权利要求1至3中任一项所述的具有联动折叠结构的无人机，其特征在于：所述第一、第二转动结构为设置在所述机臂上且垂直于机臂长度方向的通孔，所述第三、第四转动结构为设置在所述起落架上且垂直于起落架长度方向的通孔。
  5. 根据权利要求4所述的具有联动折叠结构的无人机，其特征在于：所述机臂与起落架的首端均伸出有两片平行设置的铰接耳片，所述铰接耳片之间具有空隙，所述机臂的铰接耳片上沿长度方向分别设有两处通孔以作为所述第一、第二转动结构，所述起落架的铰接耳片上设有一处通孔以作为所述第三转动结构，起落架上低于铰接耳片的位置设有一处通孔以作为所述第四转动结构，所述连杆的两端设有通孔，其分别插接在所述机臂与起落架上的铰接耳片之间的间隙内并通过转轴连接，所述机座上设有水平方向的凹槽，所述凹槽的左右侧壁上设有孔，所述机臂上作为第一转动结构的通孔以及起落架上作为第三转动结构的通孔分别与凹槽侧壁上的孔对正并通过转轴连接。
  6. 根据权利要求4所述的具有联动折叠结构的无人机，其特征在于：所述机臂与起落架均为四个，沿所述机座的周向均匀分布。
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