WO2018018503A1 - Ensemble châssis et véhicule aérien sans pilote utilisant celui-ci - Google Patents

Ensemble châssis et véhicule aérien sans pilote utilisant celui-ci Download PDF

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Publication number
WO2018018503A1
WO2018018503A1 PCT/CN2016/092072 CN2016092072W WO2018018503A1 WO 2018018503 A1 WO2018018503 A1 WO 2018018503A1 CN 2016092072 W CN2016092072 W CN 2016092072W WO 2018018503 A1 WO2018018503 A1 WO 2018018503A1
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WO
WIPO (PCT)
Prior art keywords
arm
frame assembly
arms
central portion
main
Prior art date
Application number
PCT/CN2016/092072
Other languages
English (en)
Chinese (zh)
Inventor
王佳迪
张永生
陈星元
梁贵彬
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 CN201680004476.XA priority Critical patent/CN107108013B/zh
Priority to PCT/CN2016/092072 priority patent/WO2018018503A1/fr
Publication of WO2018018503A1 publication Critical patent/WO2018018503A1/fr

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/46—Blades
    • B64C27/473—Constructional features
    • B64C27/50—Blades foldable to facilitate stowage of aircraft
    • 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
    • B64U30/291—Detachable rotors or rotor supports
    • B64U30/292—Rotors or rotor supports specially adapted for quick release
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

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 UAV is mainly composed of a rack component, a flight control system, a power system and a load.
  • the rack component is the main body, and the remaining parts are mounted and fixed to each other through the rack assembly.
  • the frame assembly generally includes a body and a plurality of arms extending outwardly from the body.
  • the outwardly extending arm increases the size of the drone, which is not conducive to portability.
  • a foldable drone with a foldable arm emerges.
  • the existing arm folding mechanism often has an overall volume that is too large after the aircraft is folded, which makes it inconvenient to protect and transport the whole machine.
  • a rack assembly for a drone including a center portion and a first arm, one end of the first arm being coupled to the center portion, the first arm including a first portion, a third portion coupled to the central portion and a second portion connecting the first portion and the third portion, the frame assembly being switchable between an expanded state and a folded state, wherein in the folded state, the first portion and The third part is located on different planes.
  • a drone includes the above described rack assembly and a power system disposed on the rack assembly for moving the drone.
  • the first and third portions of the frame assembly and the first arm of the drone are located in different planes to avoid interference with other components and to facilitate reduction of the folding volume.
  • FIG. 1 is a perspective view of a drone according to an embodiment of the present invention.
  • FIG. 2 is a plan view showing a frame assembly of the unmanned aerial vehicle according to an embodiment of the present invention in an unfolded state.
  • Figure 3 is a side elevational view of the frame assembly of Figure 2.
  • FIG. 4 is a plan view showing a frame assembly of the drone of the embodiment of the present invention in a folded state.
  • Figure 5 is a cross-sectional view of the frame assembly of Figure 4 taken along line V-V.
  • Fig. 6 is a plan view showing a frame assembly of the unmanned aerial vehicle according to the second embodiment of the present invention.
  • Figure 7 is a plan view of the frame assembly of the drone of the second embodiment of the present invention during folding.
  • Drone 1 Rack assembly 10 Central department 12 Buckle 120 First arm 14 first part 141 the second part 142 the third part 143 Second arm 16 Buckle 160 Host arm 18 Buckle 180 Power system installation 19 Auxiliary arm 15
  • 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 rack assembly 10 and a power system (not shown) disposed on the rack assembly 10.
  • the power system 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 power system 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 rotors may be one, two, three, four, 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 axes of the rotors 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 system 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.
  • the frame assembly 10 can include a central portion 12, a plurality of first arms 14, a plurality of second arms 16, and a host arm 18. One end (proximal end) of each of the first arms 14 is connected to the center portion 12, and the other end (distal end) is connected to the main arm 18. One end (proximal end) of each of the second arms 16 is connected to the center portion 12, and the other end (distal end) is connected to the main arm 18.
  • the drone 100 can include any suitable number of first arm 14, second arm 16, and host arm 18, for example, 1, 2, 3, 4 or more, in other embodiments, the number of the first arm 14 and the second arm 16 to which each of the host arms 18 is connected may be appropriately changed, for example, each The main arm 18 can connect two, three or more of the first arm 14 / the second arm 16 .
  • the frame assembly 10 includes two first arms 14, two second arms 16, and two host arms 18. The two first arm 14 and the two second arms 16 may be disposed symmetrically or asymmetrically around the central portion 12. In this embodiment, the two first arm 14 and the two second arms 16 are symmetrically disposed around the roll axis of the center portion 12.
  • the two main body arms 18 are symmetrically disposed on both sides of the roll axis of the center portion 12.
  • the first arm 14 and the second arm 16 are respectively at an equal angle to the central portion 12, thereby making the operation of the drone more stable.
  • the first arm 14 and the second arm 16 are rotatably connected to the central portion 12 such that a host connected to the first arm 14 and the second arm 16
  • the height of the arm 18 relative to the central portion 12 is adjustable.
  • the host arm 18 can be located below the top of the central portion 12 or above the top of the central portion 12 or substantially flush with the central portion 12.
  • the first arm 14 may be disposed in the head direction of the drone 100 or in the direction of the head of the drone 100.
  • the second arm 16 is disposed adjacent to the unmanned person.
  • the tail direction of the machine It can be understood that, in other embodiments, the first arm 14 can be disposed near the tail of the drone 100, and correspondingly, the second arm 16 is disposed close to the unmanned The direction of the nose of the machine
  • a control system (e.g., a flight control system) may be disposed on the center portion 12 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 system, the power system for driving the drone to operate, such as taking off, flying, hovering or landing, and the like.
  • the central portion 12 can be used to support a load.
  • the load can be coupled to any suitable location of the central portion 12, such as the bottom or underside of the central portion 12.
  • the connection between the load and the central portion 12 may be a fixed connection, or the load may be movable relative to the central portion 12.
  • 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 12 (e.g., via a carrier or other mounting platform, such as a pan/tilt) to capture images of multiple viewing angles.
  • the power system can be disposed on the host arm 18. As shown in Figure 1, the end of the mainframe arm 18 is provided with a power system mounting portion 19 for mounting the power system thereon. It will be appreciated that each end of the mainframe arm 18 may be provided with one or two power systems.
  • the central portion 12 is provided with a buckle 120.
  • the buckle 120 can be engaged with the second arm 16 when the second arm 16 is in a folded state, so as to prevent the second arm from being folded after being folded. swing.
  • the frame assembly 10 is in an unfolded state.
  • the distal end of the first arm 14 is rotatably fixed to one side of the main arm 18 by a fixing means such as a hinge.
  • the two first arms 14 extend toward the nose of the drone, and the two first arms 16 extend toward the tail of the drone. It can be understood that in other embodiments, the two first arms 14 extend toward the tail of the drone, and the two first arms 16 extend toward the nose of the drone.
  • the angle formed by the first arm 14 and the main arm 18 is an acute angle
  • the angle formed between the two first arms 14 is an obtuse angle.
  • the distal end of the second arm 16 is fixed to the main body arm 18 by a quick release self-locking mechanism.
  • the second arm 16 is disposed on the back of the main arm 18, that is, fixed to the main arm 16 at the host.
  • the faces on the arms 18 are adjacent to each other.
  • An angle formed between the two second arms 16 is an obtuse angle
  • an angle formed between the second arm 16 and the main arm 18 is an acute angle.
  • a stable triangular structure is formed between the first arm 14, the second arm 16, and the main arm 18.
  • the first arm 14 and the second arm 16 are respectively substantially equal to the angle formed by the central portion 12, so that the first arm 14 and the second arm 16 are
  • the triangle formed between the host arms 18 is generally an isosceles triangle.
  • the first arm 14 includes a first portion 141, a second portion 142, and a third portion 143 that are sequentially connected.
  • One end of the first portion 141 is connected to the host arm 18, the other end is connected to one end of the second portion 142; the other end of the second portion 142 is connected to one end of the third portion 143;
  • the other end of the third portion 143 is rotatably coupled to the central portion 12.
  • the first portion 141 and the third portion 143 are substantially parallel. In the unfolded state, the first portion 141 and the third portion 143 are in different planes.
  • the quick release self-locking mechanism includes a latching portion 160 disposed on the second arm 16 and a latching portion 180 disposed on the host arm 18, through the latching portion 160 and the latching portion 180 The second arm 16 is locked to the main arm 18 by the cooperation.
  • the quick release self-locking mechanism can be any suitable detachable mating structure, for example, a buckle portion is disposed on the main arm 18 and the second arm 16 is disposed on the main arm 18 .
  • the fastening portion is provided on the fastening portion, and the engagement manner is not limited to the buckle, such as interference, screwing, etc., as long as the second arm 16 can be detachably fixed to the main arm 18.
  • the second portion 142 is not in line with the first portion 141 and the third portion 143, and is consistent with the first portion 141 and the third portion 143.
  • the angle for example, an obtuse angle greater than 90 degrees and less than 180 degrees, such that when the drone 1 is folded, the first portion 141 and the third portion 143 are in different planes.
  • the structure of the first arm 14 is such that the central portion 12 and the main arm 18 are not in the same plane, and the central portion 12 and the main arm 18 interfere with each other when folding.
  • FIG. 4 and FIG. 5 Please refer to FIG. 4 and FIG. 5 for a top view and a cross-sectional view of the frame assembly 10.
  • the second arm 16 is folded over the back of the main arm 18 and is blocked by the main arm 18.
  • the first arm 14 is folded inside the main arm 18 (i.e., on the side close to the central portion 12).
  • the angle formed by the first portion 141 and the main arm 18 is smaller than the angle formed by the first portion 141 and the main arm 18 when in the unfolded state.
  • the first portion 141 is substantially parallel to the main body arm 18 and substantially conforms to the inner side of the main body arm 18 in the folded state, ie, the first portion 141 and the main body arm 18 The resulting angle is approximately zero or close to zero.
  • the third portion 143 is substantially flush with the second arm 16 such that the central portion 12 respectively coupled to the first arm 14 and the second arm 16 is in the first
  • the third portion 143 of the arm 14 and the second arm 16 are substantially parallel planes.
  • the main arm 18 In the folded state, the main arm 18 is located on a different plane from the third portion 143 and the second arm 16 , that is, in a different plane from the central portion 12 , and the plane in which the main arm 18 is located It may be located below the bottom of the central portion 12 or above the top of the central portion 12.
  • the two mainframe arms 18 are adjacent to the two sides of the central portion 12, and the spacing between the two mainframe arms 18 in the folded state is smaller than the spacing between the two mainframe arms 18 in the unfolded state.
  • the two first arms 14 In the folded state, the two first arms 14 are disposed substantially parallel between the two main arms 18, that is, the angle formed between the two first arms 14 is substantially zero.
  • the angle formed between the two first arms 14 in the folded state is smaller than the angle formed between the two first arms 14 in the unfolded state.
  • the two second arms 16 are disposed substantially parallel to the outside of the third portion 143 of the two first arms 14, and the angle between the two second arms 16 is substantially zero.
  • the distal ends of the two second arms 16 are disposed on the nose side of the drone 100, that is, the same as the first arm 14 is located at the central portion 12. side. It can be understood that when the first arm 14 is located at the tail side of the central portion 12, the distal ends of the two second arms 16 are also located at the center portion 12 in the folded state. The tail side.
  • the spacing between the distal ends of the two second arms 16 is less than the spacing between the distal ends of the two second arms 16 in the deployed state. In some embodiments, the spacing between the distal ends of the two second arms 16 in the folded state is substantially equivalent to the width of the central portion 12 in a direction perpendicular to its roll axis.
  • the first portion 141 is substantially parallel to the third portion 143. Since the first portion 141 is substantially parallel to the main arm 18 in the folded state, the third portion 143 is substantially parallel to the second arm 16 such that in the folded state, the two main arms 18 and the two are The second arms are substantially parallel and are located in different planes.
  • the first arm 14 and the main arm 18 When unfolding from the folded state to the deployed state, the first arm 14 and the main arm 18 are first deployed to a predetermined position (the predetermined position may be the first when the rack assembly 10 is in the deployed state) The arm 14 and the position of the main arm 18 are located, and then the distal end of the second arm 16 is withdrawn from the buckle 120 of the central portion 12 and rotated around its proximal end to a designated position. (The designated position may be the position where the second arm 16 is located when the frame assembly 10 is in the deployed state), and finally the distal end of the second arm 16 is locked by the quick release self-locking mechanism. Mounted on the host arm 18 to complete deployment of the frame assembly 10.
  • the distal end of the second arm 16 is first unlocked from the main arm 18 and the second arm 16 is rotated relative to the central portion 12.
  • the distal end of the second arm 16 is engaged with the buckle 120 of the central portion 12, and then the two main arms 18 are toward the center
  • the portion 12 is close until it reaches the folded state.
  • the first portion 141 of the first arm 14 is fitted inside the main arm 18, and the third portion 143 of the first arm 14 is substantially parallel to the second arm 16.
  • the main arm 18 is different from the third portion 143 and the second arm 16 of the first arm 14 when the first arm 14 is in a bent state such that the frame assembly 10 is folded.
  • the plane avoids interference between the main arm 18 and the second arm 16 involving the host arm 18 and the central portion 12.
  • the first arm 14 and the second arm 16 are both defined within a width range defined by the two main arms 18, and the folded frame assembly width is substantially the same as the width of the central portion 12. Rather, the thickness is approximately equivalent to the thickness of the host arm 18 and the second arm 16 superimposed, and the volume is relatively small.
  • the quick release self-locking mechanism can also be a sleeve portion disposed on the second arm 16 , such as a semi-open sleeve portion, which is sleeved on the host arm 18 when in the unfolded state.
  • the second arm 16 is disengaged from the main arm 18 when folded from the unfolded state to the folded state; and in the folded state, the second arm 16 is again set over The main arm 18 is secured in the folded state; when unfolded from the folded state to the unfolded state, the second arm 16 is disengaged from the main arm 18 and deployed to the designated position and then re-sleeve It is disposed on the main body arm 18 to be locked in the unfolded state.
  • FIG. 6 and FIG. 7 are top views of the unmanned aerial vehicle frame assembly according to the second embodiment of the present invention.
  • the frame assembly also includes an auxiliary arm 15.
  • the auxiliary arm 15 is connected at one end to the central portion 12 and at one end to the main arm 18.
  • the number of the auxiliary arms 15 may be one, two, three or more.
  • the auxiliary arm 15 is substantially parallel to the first portion 141 and the third portion 143 of the first arm 14.
  • the auxiliary arm 15 forms a link structure with the first arm 14 and the main arm 18 to assist in unfolding and folding of the first arm and the main arm.
  • the auxiliary arm 15 may also be detachably secured to the main body arm 18 or the central portion 12 by a quick release self-locking mechanism for ease of deployment and folding.
  • the second arm 16 may be omitted and the first arm 14 may be disposed at the geometric center of the host arm 18.
  • a locking mechanism may be disposed between the central portion 12 and the first arm 14 and between the first arm 14 and the main arm 18 to lock the central portion 12 and the first The connection between the arms 14 and the connection between the first arm 14 and the host arm 18.
  • the first arm 14 and the second arm 16 are respectively disposed at opposite ends of the main arm 18 in the embodiment shown in the drawings, in other embodiments, the first Both the arm 14 and the second arm 16 may be disposed in the middle of the main arm 18.
  • the host arm 18 may be omitted and the power system may be disposed directly at the distal ends of the first arm 14 and the second arm 16.
  • the first arm 14, the second arm 16, and the auxiliary arm 15 may be referred to as a support arm, and the number of the support arms may not be limited to the implementation. The number in the example can be multiple.
  • the mainframe arm 18 is coupled to the central portion 12 by the support arm.
  • a plurality of support arms are symmetrically disposed about a roll axis of the center portion 12, and a plurality of the main arm arms 18 are also symmetrically disposed about a roll axis of the center portion 12.
  • the buckle in the above embodiment, in the folded state, the buckle may be disposed on the main arm 18, and the second arm 16 may be engaged with the main arm 18 by a buckle to The second arm 16 is further stabilized in the folded state.
  • the buckle 120 can be replaced with any other suitable fixing structure as long as the second arm 16 can be detachably fixed to the central portion 12 or the host arm 18. For example, the cooperation of the hook and the card slot.

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Abstract

L'invention concerne un ensemble châssis (10) utilisé dans un véhicule aérien sans pilote (1) comprenant une partie centrale (12) et des premiers bras (14). Une extrémité de chacun des premiers bras (14) est raccordée à la partie centrale (12). Chacun des premiers bras (14) comprend une première partie (141), une troisième partie (143) raccordée à la partie centrale (12) et une deuxième partie (142) raccordant la première partie (141) à la troisième partie (143). L'ensemble châssis (10) peut être commuté entre une forme déployée et une forme pliée. Dans la forme pliée, la première partie (141) et la troisième partie (143) sont situées sur des plans différents. L'ensemble châssis permet un pliage simple et compact pour le véhicule aérien sans pilote.
PCT/CN2016/092072 2016-07-28 2016-07-28 Ensemble châssis et véhicule aérien sans pilote utilisant celui-ci WO2018018503A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680004476.XA CN107108013B (zh) 2016-07-28 2016-07-28 机架组件及使用该机架组件的无人机
PCT/CN2016/092072 WO2018018503A1 (fr) 2016-07-28 2016-07-28 Ensemble châssis et véhicule aérien sans pilote utilisant celui-ci

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/092072 WO2018018503A1 (fr) 2016-07-28 2016-07-28 Ensemble châssis et véhicule aérien sans pilote utilisant celui-ci

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WO2018018503A1 true WO2018018503A1 (fr) 2018-02-01

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CN108545170A (zh) * 2018-04-03 2018-09-18 新疆大学 可折叠的无人机机架
KR20230100045A (ko) * 2021-12-28 2023-07-05 유한책임회사 네스트 접이식 드론

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Publication number Priority date Publication date Assignee Title
CN108545170A (zh) * 2018-04-03 2018-09-18 新疆大学 可折叠的无人机机架
CN108545170B (zh) * 2018-04-03 2023-09-05 新疆大学 可折叠的无人机机架
KR20230100045A (ko) * 2021-12-28 2023-07-05 유한책임회사 네스트 접이식 드론
KR102635488B1 (ko) 2021-12-28 2024-02-13 유한책임회사 네스트 접이식 드론

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