WO2017214934A1 - 机架组件及使用该机架组件的无人机 - Google Patents

机架组件及使用该机架组件的无人机 Download PDF

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Publication number
WO2017214934A1
WO2017214934A1 PCT/CN2016/086049 CN2016086049W WO2017214934A1 WO 2017214934 A1 WO2017214934 A1 WO 2017214934A1 CN 2016086049 W CN2016086049 W CN 2016086049W WO 2017214934 A1 WO2017214934 A1 WO 2017214934A1
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WO
WIPO (PCT)
Prior art keywords
arm
joint portion
bushing
frame assembly
frame
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Application number
PCT/CN2016/086049
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English (en)
French (fr)
Inventor
欧迪
李客南
李红山
王佳迪
Original Assignee
深圳市大疆创新科技有限公司
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 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2016/086049 priority Critical patent/WO2017214934A1/zh
Priority to CN201680004268.XA priority patent/CN107438563B/zh
Publication of WO2017214934A1 publication Critical patent/WO2017214934A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/35—Rotors having elastomeric joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants

Definitions

  • the present invention relates to a rack assembly, and more particularly to a rack assembly for a drone and a drone using the same.
  • the unmanned aerial vehicle is mainly composed of a frame assembly, a flight control system, a power unit and a load
  • the frame assembly is the main body, and the remaining parts are coupled and fixed by the rack.
  • the power unit is a number of high-speed rotating motors and blades. Due to the dynamic imbalance of the motor and blades and some defects in the structure of the frame, the aircraft will continue to vibrate during flight. If the intensity of the vibration is too large, the flight control system cannot collect the correct posture information, which causes the aircraft and the load carried by the aircraft to work abnormally, which affects the normal use of the user.
  • a rack assembly includes a frame and an arm, the arm is connected to one end of the frame, the frame is connected to the arm through a joint portion, and the joint portion is sleeved in the On the arm, a bushing having a damping function is disposed between the joint portion and the arm.
  • a drone includes a center portion and a frame assembly, the frame assembly being the frame assembly described above.
  • the frame assembly and the drone are provided with a damping bushing at a coupling position between the arm and the frame, which can reduce the intensity of vibration transmitted to the frame during flight of the aircraft, and also ensure better operation of the aircraft.
  • a damping bushing at a coupling position between the arm and the frame, which can reduce the intensity of vibration transmitted to the frame during flight of the aircraft, and also ensure better operation of the aircraft.
  • FIG. 1 is a perspective view of a drone according to an embodiment of the present invention.
  • Fig. 2 is a partially exploded state view of the unmanned aerial vehicle according to the first embodiment of the present invention.
  • Figure 3 is a state diagram of another perspective of Figure 2.
  • FIG. 4 is a perspective view of a bushing according to an embodiment of the present invention.
  • Fig. 5 is a perspective view of the unmanned aerial vehicle according to the second embodiment of the present invention.
  • Fig. 6 is a partially exploded view of the unmanned aerial vehicle according to the second embodiment of the present invention.
  • Figure 7 is a state diagram of another view of Figure 6.
  • Fig. 8 is a perspective view of a bushing according to another embodiment of the present invention.
  • Drone 1 Central department 10 Rack assembly 20 frame twenty one Arm twenty two First arm 220 Second arm 222 combination 30,60 bushing 40,70 Rib 400,700 Trench 402,702 Power unit 50 First joint 300 Second joint 302,602 Connection 600 Cylindrical cylinder 602
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • the present invention provides a drone that can be used in any suitable environment, such as in the air (eg, a rotorcraft, a fixed-wing aircraft, or a fixed-wing and rotor-mixed aircraft), in water (eg, a ship or submarine) ), on the ground (eg, motorcycles, cars, trucks, buses, trains, etc.), in space (eg, space shuttle, satellite or detector), or underground (eg subway), or any of the above environments combination.
  • the air eg, a rotorcraft, a fixed-wing aircraft, or a fixed-wing and rotor-mixed aircraft
  • water eg, a ship or submarine
  • the ground eg, motorcycles, cars, trucks, buses, trains, etc.
  • space eg, space shuttle, satellite or detector
  • underground eg subway
  • the drone 1 includes a center portion 10 , a plurality of rack assemblies 20 connected to the center portion 10 , and a plurality of power units 50 .
  • a plurality of power units 50 are respectively disposed on the plurality of the frame assemblies 20.
  • the central portion 10 of the drone 1 can be used to support a load.
  • the load can be connected to any suitable location of the central portion 10, such as the bottom or underside of the central portion 10.
  • the connection between the load and the central portion 10 may be a fixed connection, or the load may be movable relative to the central portion 10.
  • the load may be a load for performing a particular function, such as a sensor, transmitter, tool, instrument, manipulator, or other functional device.
  • the load can be an image acquisition device.
  • the image acquisition device may be a camera located below the central portion 10. The camera can be rotated relative to the central portion 10 (e.g., by a carrier or other mounting platform, such as a pan/tilt) to capture images of multiple viewing angles.
  • the power unit 50 can be used to cause the drone 1 to take off, land, hover, and move in the air with respect to three translational degrees of freedom and three degrees of rotational freedom.
  • the powerplant 50 can include one or more rotors (not shown) and a drive mechanism (eg, a motor).
  • the rotor may include one or more rotor blades coupled to a rotating shaft.
  • the rotor blade or shaft can be rotated by a suitable drive mechanism.
  • the power unit 50 of the drone 1 is described as including four rotors in the embodiments, other suitable numbers, types, or arrangements of power units are implementable.
  • the rotors can be one, two, three, five, six, seven, eight or more.
  • the rotor may be disposed horizontally, vertically, or at any suitable angle relative to the drone 1.
  • the angle of the rotor may be fixed or variable.
  • the distance between the oppositely disposed rotor shafts may be any suitable distance, such as less than or equal to 2 meters, or less than or equal to 5 meters. Alternatively, the distance may be between 40 cm and 1 meter, between 10 cm and 2 meters, or between 5 cm and 5 meters.
  • the power unit 50 can be driven by any suitable motor, such as a DC motor (eg, a brushed motor or a brushless motor) or an AC motor.
  • the electric machine can be assembled to drive a rotor blade.
  • a control system (e.g., a flight control system) may be disposed on the center portion 10 to control the flight of the drone 1.
  • the control system is based on one or more of: the location of the drone 1, the orientation of the drone 1, the current state of the drone 1, time or said
  • the unmanned aerial vehicle 1 is automatically controlled by the sensor or load of the drone 1 sensing the acquired data.
  • control system may include a receiver or other communication module disposed on the drone 1 for receiving user instructions, such as receiving user instructions from a remote terminal.
  • the user command received by the receiver is used to control the power unit 50, which is used to drive the drone to operate, such as take-off, flight, hovering or landing, and the like.
  • the frame assembly 20 can be used to carry the power unit 50.
  • One end of each of the frame assemblies 20 connected to the center portion 10 is a proximal end portion, and the other end portion opposite to the proximal end portion is a distal end portion.
  • the power unit 50 can also be mounted to any suitable location of the frame assembly 20, such as the distal end of the frame assembly 20 or a portion proximate the distal portion. Alternatively, the power unit 50 can be mounted at or near the proximal end.
  • the power unit 30 can be mounted at or near the distal end by about 1/10, 1/5, 1/4, 1/3, 1/2, 3/4, 2/3, 4/5, or 9 /10 The length of the frame assembly.
  • the drone 100 can include any suitable number of deformable frame assemblies 20, for example, 2, 3, 4 or more.
  • the drone 1 includes two rack assemblies 20.
  • the frame assembly 20 can be disposed symmetrically or asymmetrically about the central portion 10.
  • each rack assembly 20 can be used to support a single or multiple power units 50.
  • the power unit 50 can be evenly arranged on the frame assembly 20.
  • each rack assembly 20 can include a different number of power units 50.
  • the frame assembly 20 is rotatably coupled to the central portion 10 such that the height of the power unit 50 on each of the frame assemblies 20 relative to the central portion 10 is adjustable.
  • Each of the frame assemblies 20 includes a frame 21 and an arm 22 .
  • One end of the frame 21 connected to the central portion 10 is a proximal end portion, and the other end portion opposite to the proximal end portion is a distal end portion, and the distal end portion of the frame 21 and the arm 22 are Connected, each of the frames 21 and the corresponding arm 22 form an inverted "T" shape.
  • two of the arms 22 are disposed at two ends of the center portion 10, and the two arms 22 are substantially parallel to each other.
  • the power unit 50 is respectively disposed at two ends of the arm 22 .
  • the frame 21 and the arm 22 are connected by a joint portion 30.
  • the joint 30 connects the distal end of the frame 21 to the arm 22.
  • the distal end portion of the frame 21 is coupled to the intermediate portion of the arm 22, and a power unit 50 is disposed on each of the opposite distal ends of the arm 22.
  • the joint 30 is rotatably coupled to the distal end of the frame 21 such that the arm 22 is rotatable relative to the frame 21 by the joint 30.
  • the joint portion 30 includes a first joint portion 300 and a second joint portion 302 fixedly disposed at a distal end portion of the frame 21.
  • the second joint portion 302 can be disposed on the arm 22 and can be connected to the first joint portion 300 to fix the arm 22 to the frame 21 .
  • the first joint portion 300 and the second joint portion 300 are respectively semi-arc structures. When the first joint portion 300 and the second joint portion 302 are combined and fixedly connected, a cylindrical receiving space can be formed. The arm 22 is partially accommodated in the receiving space.
  • the first joint portion 300 and the second joint portion 302 may be fixedly connected by a fixing device such as a screw. It can be understood that in other embodiments, the first joint portion 300 and the second joint portion 302 may also be fixedly connected by any suitable other connection manner, for example, a snap connection or the like.
  • At least one bushing 40 is disposed between the arm 22 and the joint portion 30.
  • the inner side wall of the first joint portion 300 facing the arm 22 is provided with a first receiving groove 3000, and the second joint portion 302 faces the inner side wall of one side of the arm 22 to provide a second receiving Slot 3020.
  • the shapes of the first receiving slot 3000 and the second receiving slot 3020 are both adapted to the shape of the bushing 40 for collectively receiving the bushing 40 therein.
  • the bushing 40 is in the shape of a hollow partial cylinder, and the inner side of the bushing 40 is provided with at least two ribs 400, and a groove 402 is formed between the adjacent ribs 400.
  • the groove 402 is used to contain grease therein.
  • the bushing 40 is made of a damping material such as a resilient plastic, rubber or nylon material or the like.
  • the number of the bushings 40 between each of the arms 22 and the corresponding joint portion 30 is four, and the bushings 40 are symmetrically disposed at The arms 22 are on opposite sides.
  • the number of the first receiving slots 3000 is two, and the number of the second receiving slots 3020 disposed on the second connecting portion 302 is also two.
  • the two first receiving slots 3000 are respectively disposed at opposite ends of the first joint portion 300, and the two second receiving slots 3020 are respectively disposed at opposite ends of the second joint portion 302.
  • first receiving slot 3000 and the second receiving slot 3020 can be respectively disposed at any suitable position of the first joint portion 300 and the second joint portion 302, for example, adjacent to the distal end portion, close to the intermediate portion, and the like.
  • the number of the bushings 40 is not limited to four, and may be two, six, eight, etc., symmetrically and evenly spaced on both sides of the arm 22, correspondingly, the first groove
  • the number and position of the 3000 and the second recess 3020 are also set corresponding to the number and position of the bushings 40.
  • the bushings 40 may also be different numbers of one, two, three, four, etc., and are disposed only between the arm 22 and the first joint portion 300. When there are more than one, The extending directions of the arms 22 are evenly spaced or non-uniformly spaced on the arm 22.
  • the bushing 40 is generally 1/2 semi-cylindrical such that when the opposing bushings 40 are looped over the outer sidewall of the arm 22, a substantially cylindrical shape can be formed. It will be appreciated that the bushing 40 may also be less than 1/2 semi-cylindrical, such as 1/3 semi-cylindrical, 2/5 semi-cylindrical, and the like. It can be understood that the positions of the first groove 3000 on the first joint portion 300 and the second groove 3020 on the second joint portion 302 may also not correspond, so that the bushing 40 is opposite to the The extending direction of the arm 22 is asymmetrically arranged.
  • the second joint portion 302 can be omitted as long as the first joint portion 300 can be sleeved on the arm 22 and the arm 22 can be fixed to the first joint portion 300. on.
  • the bushing 40 is disposed between the first joint portion 300 and the arm 22 .
  • the side of the first joint portion 300 that cooperates with the arm 22 is a curved surface structure so as to be sleeved on the arm 22 .
  • a suitable fixing structure such as a buckle or a screw may be provided to fix the first joint portion 300 and the seat.
  • the arm 22 is described.
  • first groove 3000 and the second groove 3020 can also be omitted, and a groove for accommodating the bushing 40 is disposed at a position corresponding to the arm 22 .
  • a frame assembly structure according to a second embodiment of the present invention is substantially similar to the frame assembly structure of the first embodiment, with the difference being the structure and lining of the arm and the joint portion.
  • the structure of the set In order to simplify the description, the description of the elements that are the same as those in the first embodiment will not be repeatedly described, and only the parts different from the first embodiment will be described.
  • the frame 21 is coupled to the arm 22 via a joint 60.
  • the arm 22 includes a first arm 220 and a second arm 222 that are separable from each other.
  • the proximal end of the first arm 220 and the proximal end of the second arm 222 are connected, and the connection may be in the form of a snap joint, a screw joint or a screw lock.
  • the distal end portion of the first arm 220 and the distal end portion of the second arm 222 are respectively provided with a power unit 50.
  • the joint portion 60 is disposed at a distal end portion of the frame 21, and includes a connecting portion 600 and a hollow cylindrical cylinder 602.
  • the cylindrical cylinder 602 is sleeved in the Said on the arm 22.
  • a bushing 70 is disposed between the arm 22 and the inner side wall of the cylindrical barrel 602.
  • the bushing 70 is annular and sleeved on the arm 22 .
  • a groove for accommodating the bushing 70 is provided at a position corresponding to the inner side wall of the cylindrical cylinder 602 corresponding to the bushing 70.
  • the number of the bushings may be 1, 2, 3, 4 or more.
  • the bushing 70 may be disposed at an intermediate portion of the inner side wall of the cylindrical cylinder.
  • the bushings 70 are two or more, they may be evenly or non-uniformly spaced between the inner side wall of the cylinder and the arm 22.
  • the bushing 70 has a substantially hollow cylindrical shape, and the inner side wall is provided with a rib 700, and a groove 702 is formed between adjacent ribs 700.
  • the groove 702 can be used for Fill the grease with damping effect.
  • the bushing 70 is similar to the bushing 40 and may be made of a damping material such as elastic plastic or rubber or nylon. The height, number, spacing, and position of the bushings 70 can be adjusted as needed to meet different damping needs.
  • the arm in the first embodiment can also adopt the detachable structure as in the second embodiment, that is, the first arm and the second arm which can be separated from each other.
  • Such an arm structure design enhances the maintainability of the arm.
  • the bushing in the first embodiment can also adopt a bushing structure as in the second embodiment, that is, a complete hollow cylinder structure.
  • the complete hollow cylindrical structure bushing further enhances shock absorption performance and reliability.
  • the bushing structure in the second embodiment can also adopt the partial cylinder structure in the first embodiment.
  • the bushing structure is not limited to the above-mentioned partial cylindrical structure or cylindrical structure, and may be any other suitable shape as long as it can resist the outer surface of the arm and the It is sufficient to act as a damping between the inner surfaces of the joints.

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

一种机架组件(20)，包括机架(21)和机臂(22)，所述机臂(22)与所述机架(21)的一端相连接，所述机架(21)通过结合部(30，60)与所述机臂(22)相连接，所述结合部(30，60)套设在所述机臂(22)上，在所述结合部(30，60)和所述机臂(22)之间设置有具有阻尼作用的衬套(40，70)。一种使用该机架组件(20)的无人机(1)。所述机架组件(20)和无人机(1)在机臂(22)与机架(21)的耦合位置设置具阻尼作用的衬套(40，70)，能够降低飞行器飞行过程中传递到机架(21)上振动的强度，同时也保证了飞行器较好的操纵性的技术问题。

Description

机架组件及使用该机架组件的无人机 技术领域
本发明涉及一种机架组件，尤其涉及一种用于无人机的机架组件及使用该机架组件的无人机。
背景技术
目前无人飞行器主要由机架组件、飞控系统、动力单元及负载构成，机架组件为主体，其余各部分都通过机架安装固定相互耦合。其中动力单元为若干个高速旋转的电机和桨叶，由于电机、桨叶的动力不平衡以及机架结构上的某些缺陷，飞行器在飞行过程中会持续振动。这种振动若强度过大会导致飞控系统不能采集到正确的姿态信息，从而造成飞行器及所携带的负载工作异常，影响用户的正常使用。
发明内容
有鉴于此，有必要提供一种能更好地减振的机架组件及无人机。
一种机架组件，包括机架和机臂，所述机臂与所述机架的一端相连接，所述机架通过结合部与所述机臂相连接，所述结合部套设在所述机臂上，在所述结合部和所述机臂之间设置有具有阻尼作用的衬套。
一种无人机，包括中心部和机架组件，所述机架组件为上所述的机架组件。
所述机架组件和无人机在机臂与机架的耦合位置设置具阻尼作用的衬套，能够降低飞行器飞行过程中传递到机架上振动的强度，同时也保证了飞行器较好的操纵性的技术问题。
 附图说明
图1是本发明实施方式提供的一种无人机的立体图。
图2是本发明第一实施方式的无人机的部分分解状态图。
图3是图2另一视角的状态图。
图4是本发明一实施方式的衬套的立体图。
图5是本发明第二实施方式的无人机的立体图。
图6是本发明第二实施方式的无人机的部分分解图。
图7是图6另一视角的状态图。
图8为本发明另一实施方式的衬套的立体图。
主要元件符号说明
无人机 1
中心部 10
机架组件 20
机架 21
机臂 22
第一机臂 220
第二机臂 222
结合部 30，60
衬套 40，70
凸棱 400，700
沟槽 402，702
动力单元 50
第一结合部 300
第二结合部 302，602
连接部 600
圆柱筒 602
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。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和所有的组合。
本发明提供一种无人机，所述无人机可用于任何适宜的环境，例如在空中（例如旋翼飞行器、固定翼飞行器或固定翼与旋翼混合的飞行器），在水中（例，船或潜艇），在地面上（例，摩托车，汽车，卡车，公交车，火车等），在太空中（例，航天飞机、卫星或探测器），或在地下（例如地铁），或上述环境的任意组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1，无人机1包括中心部10、及多个与所述中心部10相连接的机架组件20、以及多个动力装置50。多个动力装置50分别设置在多个所述机架组件20上。
所述无人机1的中心部10可用于支撑负载。所述负载可连接至所述中心部10的任意适合部位，譬如，所述中心部10的底部或下侧。所述负载与所述中心部10之间的连接可以是固定连接，或者，所述负载可相对所述中心部10活动。
所述负载可以是用于执行特定功能的负载，譬如，传感器，发射器，工具，仪器，操纵器，或其他功能装置。例如，所述负载可以是一影像获取装置。在一些情境中，所述影像获取装置可以是位于所述中心部10下方的相机。所述相机可相对所述中心部10旋转（例如，通过一个载体或其他安装平台，具体如云台）以获取多个视角的影像。
所述动力装置50可用于使所述无人机1起飞、着陆、悬停，及在空中关于三个平移自由度以及三个旋转自由度运动。在一些实施例中，所述动力装置50可包括一个或多个旋翼（未示出）以及驱动机构（例如电机）。所述旋翼可包括连接至一转轴的一个或多个旋翼叶片。所述旋翼叶片或转轴可被一适当的驱动机构驱动而旋转。虽然在实施例中所述无人机1的动力装置50被描述为包括4个旋翼，但是动力装置的其他适当的数量、类型或排配都是可实施的。例如，所述旋翼可以是一个、两个、三个、五个、六个、七个、八个或更多。所述旋翼可以相对于所述无人机1水平、垂直或其他任何适当角度设置。所述旋翼的角度可以是固定的或可变的。相对设置的所述旋翼转轴之间的距离可以是任何适当的距离，例如小于等于2米，或小于等于5米。可选地，所述距离可以在40厘米到1米之间、从10厘米到2米之间，或从5cm到5米之间。所述动力装置50可以被任意适当的电机驱动，例如直流电机（例：有刷电机或无刷电机）或交流电机。在一些实施例中，所述电机可被装配用于驱动旋翼叶片。
所述中心部10上可设置控制系统（例如，飞行控制系统）来控制所述无人机1的飞行。在一些实施例中，所述控制系统基于如下一项或多项：所述无人机1的位置，所述无人机1的朝向，所述无人机1的当前状态，时间或所述无人机1的传感器或负载所感测获取的数据，自动控制所述无人机1。
可替换地或可结合地，所述控制系统可包括设置在所述无人机1上的一个接收器或其他的通信模块，用于接收用户指令，例如，从远程终端接收用户指令。通过所述接收器所接收的所述用户指令用于控制所述动力装置50，所述动力装置50用于驱动所述无人机运行，例如起飞、飞行、盘旋或着陆等。
所述机架组件20可用于承载所述动力装置50。每一机架组件20连接至所述中心部10的一端为近端部，与所述近端部相背的另一端部为远端部。
可以理解的是，所述动力装置50还可安装至所述机架组件20的任意适合部位，例如所述机架组件20的远端部或靠近所述远端部的部位。可替换地，所述动力装置50可以安装在所述近端部或靠近所述近端部的部位。所述动力装置30可以安装在或靠近所述远端部约1/10、1/5、1/4、1/3、1/2、3/4、2/3、4/5，或9/10所述机架组件长度的部位。在一些实施例中，所述无人机100可包括任意适当数量的可变形机架组件20，例如，2个、3个、4个或更多。在本实施例中，所述无人机1包括两个机架组件20。所述机架组件20可对称地或不对称地围绕所述中心部10设置。本实施例中，两个所述机架组件20对称地围绕所述中心部10设置。每一机架组件20可用于支撑单个或多个动力装置50。所述动力装置50可平均排配在所述机架组件20上。可替换地，每一机架组件20可以包括不同数量的动力装置50。可选地，所述机架组件20能够转动地与所述中心部10相连，使得每一机架组件20上的动力装置50相对于所述中心部10的高度可调。
每个所述机架组件20均包括一机架21和一机臂22。所述机架21与所述中心部10相连的一端为近端部，与该近端部相背的另一端部为远端部，所述机架21的远端部与所述机臂22相连，每个机架21与对应的机臂22形成一倒“T”字形。本实施例中，两个所述机臂22设置在所述中心部10的两端，且两个所述机臂22之间大致相互平行。本实施例中，所述机臂22的两端分别设置有一所述动力单元50。
请一并参阅图2及图3所示，所述机架21与所述机臂22通过结合部30相连接。所述结合部30将所述机架21的远端部连接至所述机臂22。在本实施例中，所述机架21的远端部连接至所述机臂22的中间部位，在所述机臂22的两相对远端部上分别设置有一动力装置50。在一些实施例中，所述结合部30转动地连接在所述机架21的远端部，从而使得所述机臂22可通过所述结合部30相对所述机架21旋转。
所述结合部30包括固定设置在所述机架21远端部的第一结合部300以及第二结合部302。所述第二结合部302能够盖设在所述机臂22上且能够与所述第一结合部300相连接而固定所述机臂22至所述机架21上。所述第一结合部300与第二结合部300分别为半弧形结构，所述第一结合部300与所述第二结合部302相结合而固定连接时，能形成一柱形收容空间使得所述机臂22部分容设于该收容空间。所述第一结合部300与所述第二结合部302可通过螺钉等固定装置固定连接。可以理解，在其他实施方式中，所述第一结合部300与所述第二结合部302也可以通过任何适宜的其他连接方式固定连接，例如，卡扣连接等。
为了提升减振效果，在所述机臂22与所述结合部30之间设置有至少一衬套40。所述第一结合部300面向所述机臂22的一侧的内侧壁设置有第一收容槽3000，所述第二结合部302面向所述机臂22的一侧的内侧壁设置第二收容槽3020。所述第一收容槽3000和所述第二收容槽3020形状均与所述衬套40形状相适应，用于共同收容所述衬套40于其内。当所述第一结合部300和所述第二结合部302相结合而固定连接时，所述衬套40被抵持在所述机臂22与所述第一结合部300和所述第二结合部302的内侧壁之间。
请一并参阅图4所示，所述衬套40为中空的部分圆柱体形状，所述衬套40内侧设置有至少两凸棱400，相邻的凸棱400之间形成沟槽402，所述沟槽402用于容纳油脂于其内。所述衬套40由阻尼材料制成，例如有弹性的塑料、橡胶或尼龙材料等。当衬套40被抵持在所述结合部30与所述机臂22之间时，当机臂由于动力装置50的驱动而发生振动时，所述振动经由设置在所述结合部30与所述机臂22之间的衬套40及衬套40内的油脂吸收，使得经由机臂22传递至所述机架21的振动力影响大大降低，从而降低对设置在所述机架21近端部的中心部10的振动力影响。可以理解的是，所述凸棱400可省略，而所述衬套40内侧可直接设置至少一凹槽，用于容纳油脂于其内。
在图2和图3所示的实施例中，每一个所述机臂22与对应的所述结合部30之间的所述衬套40的数量为4个，所述衬套40对称设置在所述机臂22两相对侧上。所述第一结合部300设置第一收容槽3000的数量为两个，而所述第二结合部302上设置的第二收容槽3020的数量也为两个。两个所述第一收容槽3000分别设置在所述第一结合部300的两相对端，两个所述第二收容槽3020分别设置在所述第二结合部302的两相对端。可以理解的是，所述第一收容槽3000和第二收容槽3020分别可设置在所述第一结合部300和第二结合部302的任意适宜位置，例如邻近远端部、靠近中间部等。所述衬套40的数量也不限于4个，也可以为2个，6个、8个等，对称且均匀间隔设置在所述机臂22两侧上，对应地，所述第一凹槽3000和所述第二凹槽3020的数量和位置也与所述衬套40的数量和位置相对应设置。所述衬套40也可为1个、2个、3个、4个等不同数量，仅设置在机臂22与所述第一结合部300之间，当为多于1个时，可沿所述机臂22的延伸方向均匀间隔设置或非均匀间隔设置在所述机臂22上。
优选地，当所述衬套40的数量多于1个时，所述第一结合部300上的第一凹槽3000和所述第二结合部302上第二凹槽3020的位置相对应，衬套40大致呈1/2半圆柱体状，从而使得两相对的衬套40环设在所述机臂22的外侧壁上时，大致能够形成一完整的圆柱体形状。可以理解的是，所述衬套40也可以是小于1/2半圆柱体，例如1/3半圆柱体、2/5半圆柱体等。可以理解的是，所述第一结合部300上的第一凹槽3000和所述第二结合部302上第二凹槽3020的位置也可以不相对应，使得所述衬套40相对所述机臂22的延伸方向非对称设置。
可以理解的是，所述第二结合部302可以省略，只要所述第一结合部300能套设在所述机臂22上并使得所述机臂22能固定在所述第一结合部300上。此时，所述衬套40设置在所述第一结合部300和所述机臂22之间。所述第一结合部300与所述机臂22配合的一面为弧面结构，从而可套设在所述机臂22上。在一些实施例中，为避免所述机臂22从所述第一结合部300脱离，也可设置适当的固定结构，例如卡扣或螺钉等固定装置来固定所述第一结合部300和所述机臂22。
可以理解的是，所述第一凹槽3000和第二凹槽3020也可以省略，而在所述机臂22相对应的位置设置容设所述衬套40的凹槽。
请参阅图5所示，为本发明第二实施方式之机架组件结构，所述机架组件结构与第一实施方式的机架组件结构大致相似，区别在于机臂与结合部的结构及衬套的结构。为简化描述，与第一实施方式中相同标号的元件的描述不再重复描述，仅描述与第一实施方式不同的部分。所述机架21通过结合部60与机臂22相连接。所述机臂22包括可相互分离的第一机臂220和第二机臂222。所述第一机臂220的近端部和所述第二机臂222的近端部相连接，连接的方式可为卡扣结合、螺纹结合或螺钉锁固等方式。所述第一机臂220的远端部和所述第二机臂222的远端部分别设置有动力装置50。
请一并参阅图6及图7所示，所述结合部60设置在所述机架21的远端部，包括连接部600及一中空的圆柱筒602，所述圆柱筒602套设在所述机臂22上。在所述机臂22与所述圆柱筒602内侧壁之间设有衬套70。所述衬套70为圆环状，套设在所述机臂22上。所述圆柱筒602内侧壁对应于该衬套70的位置处设有用于容纳该衬套70的凹槽。所述衬套的数量可以为1个、2个、3个、4个或更多。当所述衬套70的数量为1个时，该衬套70可设置在所述圆柱筒内侧壁的中间部位。当所述衬套70为2个或2个以上时，可均匀或非均匀地间隔设置在所述圆柱筒内侧壁与所述机臂22之间。
请一并参阅图8所示，所述衬套70大致呈中空的圆柱形，其内侧壁上设有凸棱700，相邻凸棱700之间形成沟槽702，所述沟槽702可用于填充具阻尼效果的润滑脂。所述衬套70与所述衬套40类似，可采用阻尼材料制成，例如弹性塑胶或橡胶或尼龙等。所述衬套70的高度、数量、间距、位置可根据需要调整以满足不同的阻尼需求。
可以理解的是，所述第一实施例中的机臂也可以采用如第二实施方式中的可分离结构，即由可相互分离的第一机臂和第二机臂组成。这样的机臂结构设计可提升机臂的可维护性。
可以理解的是，所述第一实施方式中的衬套也可以采用如第二实施方式中的衬套结构，即完整的中空圆柱体结构。所述完整的中空圆柱体结构的衬套可进一步提升减震的性能和可靠性。
可以理解的是，所述第二实施方式中的衬套结构也可以采用第一实施方式中的部分圆柱体结构。在其他实施方式中，所述衬套结构也不限于上所述的部分圆柱体结构或圆柱体结构，还可以是其他任何适宜的形状，只要能抵持在所述机臂外侧表面与所述结合部内侧表面之间，起到阻尼作用即可。
另外，对于本领域的普通技术人员来说，可以根据本发明的技术构思做出其它各种相应的改变与变形，而所有这些改变与变形都应属于本发明权利要求的保护范围。

Claims (48)

  1. 一种机架组件，包括机架和机臂，所述机臂与所述机架的一端相连接，其特征在于：所述机架通过一结合部与所述机臂相连接，所述结合部套设在所述机臂上，在所述结合部和所述机臂之间设置有具有阻尼作用的衬套。
  2. 如权利要求1所述的机架组件，其特征在于：所述衬套套设在所述机臂外侧表面上，所述衬套面向所述机臂外侧表面的内侧壁上设有沟槽。
  3. 如权利要求2所述的机架组件，其特征在于：所述衬套面向所述机臂外侧表面的内侧壁上设有至少两凸棱，相邻凸棱之间形成所述沟槽。
  4. 如权利要求2所述的机架组件，其特征在于：所述沟槽内填充有具阻尼作用的润滑脂。
  5. 如权利要求1所述的机架组件，其特征在于：所述衬套由具阻尼作用的材料制成。
  6. 如权利要求1所述的机架组件，其特征在于：所述衬套材料选自弹性塑胶、橡胶或尼龙中的一种或几种。
  7. 如权利要求1所述的机架组件，其特征在于：所述结合部内侧壁上设置有对应于所述衬套的凹槽，所述凹槽的形状和位置与所述衬套相适应。
  8. 如权利要求1所述的机架组件，其特征在于：所述衬套为部分圆柱体状。
  9. 如权利要求8所述的机架组件，其特征在于：所述结合部包括能够相互分离的第一结合部和第二结合部，所述第一结合部设置在所述机架端部，所述第二结合部能够与所述第一结合部相配合固定连接而形成一大致呈圆柱筒形的收容空间，所述机臂固定在所述收容空间内。
  10. 如权利要求9所述的机架组件，其特征在于：所述衬套数量为偶数个，每两个衬套相对应设置以形成一大致圆柱形围设在所述机臂外侧壁上。
  11. 如权利要求10所述的机架组件，其特征在于：所述衬套的数量为四个，分别设置在所述结合部两端部的内侧壁与所述机臂的外侧壁之间。
  12. 如权利要求10所述的机架组件，其特征在于：所述衬套沿所述机臂的延伸方向均匀间隔设置。
  13. 如权利要求8所述的机架组件，其特征在于：所述结合部包括第一结合部，所述第一结合部与所述机臂相配合的面为弧面。
  14. 如权利要求8所述的机架组件，其特征在于：所述衬套的数量为多个，沿所述机臂延伸方向均匀间隔设置，且相对所述机臂延伸方向不对称设置。
  15. 如权利要求1所述的机架组件，其特征在于：所述衬套为中空的圆柱体形状。
  16. 如权利要求15所述的机架组件，其特征在于：所述机臂包括能够相互分离地连接的第一机臂和第二机臂。
  17. 如权利要求16所述的机架组件，其特征在于：所述结合部套设在所述第一机臂和所述第二机臂相结合的部位。
  18. 如权利要求15所述的机架组件，其特征在于：所述结合部包括中空的圆柱筒，所述中空的圆柱筒能够套设在所述机臂上而固定机臂至所述机架。
  19. 如权利要求15所述的机架组件，其特征在于：所述衬套的数量为2个，分别设置在所述结合部两端部的内侧壁与所述机臂的外侧壁之间。
  20. 如权利要求15所述的机架组件，其特征在于：所述衬套的数量为多个，沿所述机臂延伸方向均匀间隔设置。
  21. 如权利要求1所述的机架组件，其特征在于：所述衬套面向所述机臂外侧表面的一面大致为弧面，使得所述衬套可套设在所述机臂上。
  22. 如权利要求1所述的机架组件，其特征在于：所述结合部转动地连接在所述机架端部。
  23. 如权利要求1所述的机架组件，其特征在于：所述结合部套设在所述机臂的中间部位，所述机臂的两相对远端部上分别设置有动力装置。
  24. 一种无人机，包括中心部和机架组件，所述机架组件的近端部与所述中心部相连接，所述机架组件包括机架和机臂，所述机臂与所述机架的一端相连接，其特征在于：所述机架通过一结合部与所述机臂相连接，所述结合部套设在所述机臂上，在所述结合部和所述机臂之间设置有具有阻尼作用的衬套。
  25. 如权利要求24所述的无人机，其特征在于：所述衬套套设在所述机臂外侧表面上，所述衬套面向所述机臂外侧表面的内侧壁上设有沟槽。
  26. 如权利要求25所述的无人机，其特征在于：所述衬套面向所述机臂外侧表面的内侧壁上设有至少两凸棱，相邻凸棱之间形成所述沟槽。
  27. 如权利要求27所述的无人机，其特征在于：所述沟槽内填充有具阻尼作用的润滑脂。
  28. 如权利要求24所述的无人机，其特征在于：所述衬套由具阻尼作用的材料制成。
  29. 如权利要求24所述的无人机，其特征在于：所述衬套材料选自弹性塑胶、橡胶或尼龙中的一种或几种。
  30. 如权利要求24所述的无人机，其特征在于：所述结合部内侧壁上设置有对应于所述衬套的凹槽，所述凹槽的形状和位置与所述衬套相适应。
  31. 如权利要求24所述的无人机，其特征在于：所述衬套为部分圆柱体状。
  32. 如权利要求31所述的无人机，其特征在于：所述结合部包括能够相互分离的第一结合部和第二结合部，所述第一结合部设置在所述机架端部，所述第二结合部能够与所述第一结合部相配合固定连接而形成一大致呈圆柱筒形的收容空间，所述机臂固定在所述收容空间内。
  33. 如权利要求32所述的无人机，其特征在于：所述衬套数量为偶数个，每两个衬套相对应设置以形成一大致圆柱形围设在所述机臂外侧壁上。
  34. 如权利要求33所述的无人机，其特征在于：所述衬套的数量为四个，分别设置在所述结合部两端部的内侧壁与所述机臂的外侧壁之间。
  35. 如权利要求33所述的无人机，其特征在于：所述衬套沿所述机臂的延伸方向均匀间隔设置。
  36. 如权利要求31所述的无人机，其特征在于：所述结合部包括第一结合部，所述第一结合部与所述机臂相配合的面为弧面。
  37. 如权利要求31所述的无人机，其特征在于：所述衬套的数量为多个，沿所述机臂延伸方向均匀间隔设置，且相对所述机臂延伸方向不对称设置。
  38. 如权利要求24所述的无人机，其特征在于：所述衬套为中空的圆柱体形状。
  39. 如权利要求38所述的无人机，其特征在于：所述机臂包括能够相互分离地连接的第一机臂和第二机臂。
  40. 如权利要求39所述的无人机，其特征在于：所述结合部套设在所述第一机臂和所述第二机臂相结合的部位。
  41. 如权利要求38所述的无人机，其特征在于：所述结合部包括中空的圆柱筒，所述中空的圆柱筒能够套设在所述机臂上而固定机臂至所述机架。
  42. 如权利要求38所述的无人机，其特征在于：所述衬套的数量为2个，分别设置在所述结合部两端部的内侧壁与所述机臂的外侧壁之间。
  43. 如权利要求38所述的无人机，其特征在于：所述衬套的数量为多个，沿所述机臂延伸方向均匀间隔设置。
  44. 如权利要求24所述的无人机，其特征在于：所述衬套面向所述机臂外侧表面的一面大致为弧面，使得所述衬套可套设在所述机臂上。
  45. 如权利要求24所述的无人机，其特征在于：所述结合部转动地连接在所述机架端部。
  46. 如权利要求24所述的无人机，其特征在于：所述结合部套设在所述机臂的中间部位，所述机臂的两相对远端部上分别设置有动力装置。
  47. 如权利要求24所述的无人机，其特征在于：所述中心部设有控制系统，用于控制所述无人机移动。
  48. 如权利要求24所述的无人机，其特征在于：所述机架组件的数量为两个，两个所述机架组件对称地围绕所述中心部设置。
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