WO2018072324A1 - 无人飞行器 - Google Patents

无人飞行器 Download PDF

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Publication number
WO2018072324A1
WO2018072324A1 PCT/CN2016/113257 CN2016113257W WO2018072324A1 WO 2018072324 A1 WO2018072324 A1 WO 2018072324A1 CN 2016113257 W CN2016113257 W CN 2016113257W WO 2018072324 A1 WO2018072324 A1 WO 2018072324A1
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WO
WIPO (PCT)
Prior art keywords
top surface
hole
positioning
arm
notch
Prior art date
Application number
PCT/CN2016/113257
Other languages
English (en)
French (fr)
Inventor
胡奔
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 CN201680087796.6A priority Critical patent/CN109476369A/zh
Publication of WO2018072324A1 publication Critical patent/WO2018072324A1/zh

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    • 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
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body

Definitions

  • the present invention relates to the field of aircraft technology, and more particularly to an unmanned aerial vehicle.
  • the unmanned aerial vehicle is a rapidly developing flying device that has the advantages of flexibility, quick response, no flight, and low operational requirements.
  • the UAV can realize real-time image transmission and high-risk area detection. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
  • the scope of use of drones has been expanded to three major areas of military, scientific research, and civilian use, specifically in power, communications, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop yield estimation, anti-drug, border patrol, Public security and anti-terrorism and other fields are widely used.
  • An unmanned aerial vehicle generally includes a fuselage, an arm coupled to the fuselage, a power system disposed on the arm for driving the UAV to fly, and a control system for controlling flight of the multi-rotor UAV.
  • the fuselage of the unmanned aerial vehicle and the arm are generally connected by means of super glue bonding.
  • the unmanned aerial vehicle of this fixed type can not be disassembled, and in the case of damage to the arm, the machine needs to be The module connected to the arm is replaced by the whole body.
  • Embodiments of the present invention aim to solve at least one of the technical problems existing in the prior art. To this end, embodiments of the present invention need to provide an unmanned aerial vehicle.
  • the invention provides an unmanned aerial vehicle comprising a fuselage and at least one arm, the arm comprising oppositely disposed free ends and fixed ends, the unmanned aerial vehicle further comprising an arm clamping device, the arm clamp
  • the holding device includes a first clamping mechanism coupled to the body, the first clamping mechanism comprising:
  • the first clamping member includes a first top surface and a first bottom surface opposite to each other, a first side surface and a second side surface opposite to each other, and the first side surface and the second side surface are connected to the first top surface and a first positioning through hole penetrating the first side surface and the second side surface, wherein the first top surface is open with the first positioning through hole a first top surface notch that communicates and partitions the first top surface, the first bottom surface is provided with a first bottom surface gap spaced from the first positioning through hole;
  • the first pressing block includes a first base body and a first pressing portion protruding outward from the first base body, and the first pressing portion cooperates with the first top surface notch and is detachably mounted In the first top surface gap;
  • the fixed end of the arm passes through the first positioning through hole and abuts against the first pressing portion.
  • the first clamping member further includes opposite third and fourth sides, the first side, the third side, the second side, and the fourth side
  • the first top surface and the first bottom surface are connected to each other in series, and the third side surface and/or the fourth side surface are provided with side notches spaced apart from the first positioning through hole.
  • the fuselage includes a top plate and a bottom plate spaced apart from the top plate, the first clamping mechanism being mounted between the top plate and the bottom plate, the first top surface being screwed Locking or/and snapping onto the top plate, the first bottom surface is locked or/and snapped onto the bottom plate by screws, and the first top surface is spaced apart from the top plate.
  • the arm includes a cylindrical body and an outer ring sleeve sleeved on an outer circumferential surface of the outer sleeve, the outer surface of the outer ring includes a circular arc segment and the circular arc segment is closed a plane segment, the outer ring is located in the first positioning through hole, the arc segment is in contact with an inner surface of the first positioning through hole, and the first pressing portion is in abutment with the planar portion .
  • the outer casing is provided with a dispensing hole penetrating the inner surface of the outer casing ring and the outer surface of the outer casing ring, and the inner surface of the outer casing ring extends outwardly at opposite ends a ring, the two barrier rings and the inner surface together form a glue receiving groove, and the dispensing hole communicates with the glue receiving groove.
  • the arm further includes an inner collar embedded in the shaft, an outer surface of the inner collar abutting an inner circumferential surface of the shaft, the inner collar being located
  • the fixed end corresponds to the position of the first clamping mechanism.
  • the first top surface is composed of two planar portions that are coplanar, the two planar portions are respectively located on opposite sides of the first top surface cutout, the first substrate and the first substrate The two flat portions are in contact with each other, or the first top surface includes two step portions respectively located on two sides of the first top surface notch, each step portion including a first surface and a relative surface The second surface of the first surface is recessed, the second surface of the two step portions are coplanar, and the first substrate and the second surface of the two step portions are in contact with each other.
  • the first pressing portion includes a first abutting surface away from the first base, the first abutting surface being located within the first top surface notch and facing the first Positioning the through hole, the first abutting surface is a plane; or the first abutting surface is a bad arc surface to form a complete ring with the inner surface of the first positioning through hole.
  • the arm clamping device further includes a second clamping mechanism mounted between the top plate and the bottom plate, the second clamping mechanism comprising:
  • the second clamping member includes a second top surface and a second bottom surface opposite to each other, a fifth side surface and a sixth side surface opposite to each other, and the fifth side surface and the sixth side surface are connected to the first top surface and The first bottom surface, the first clamping member defines a second positioning through hole penetrating the fifth side surface and the sixth side surface, and the second top surface is opened and the second fixing surface a second top surface gap that communicates with the second top surface and a second bottom surface gap that is spaced apart from the second positioning through hole; and
  • a second pressing block comprising: a second base body and a second pressing portion protruding outward from the second base body, wherein the second pressing portion cooperates with the second top surface notch and is detachably mounted In the second top surface gap;
  • the fixed end of the arm passes through the second positioning through hole and abuts against the two pressing portions.
  • the second top surface is screwed or/and snapped onto the top plate, and the second bottom surface is screwed or/and snapped onto the bottom plate.
  • the second top surface is spaced from the top plate.
  • the second clamping member further includes a seventh side and an eighth side opposite to each other, and the fifth side, the seventh side, the sixth side, and the eighth side are sequentially connected end to end and are connected to each other.
  • the arm includes a cylindrical body and an outer ring sleeve sleeved on an outer circumferential surface of the outer sleeve, the outer surface of the outer ring includes a circular arc segment and the circular arc segment is closed a plane segment, the outer ring is located in the second positioning through hole, the arc segment is in contact with an inner surface of the first positioning through hole, and the first pressing portion is in opposition to the flat portion
  • the outer casing is provided with a dispensing hole extending through an inner surface of the outer casing ring and an outer surface of the outer casing ring.
  • the inner surface of the outer casing ring respectively extends from the opposite ends of the barrier ring, and the two barrier rings together with the inner surface form a plastic tank, the dispensing hole and the The capacity of the glue tank is connected.
  • the arm further includes an inner collar embedded in the shaft, an outer surface of the inner collar abutting an inner circumferential surface of the shaft, the inner collar being located
  • the fixed end corresponds to the position of the second clamping mechanism.
  • the second top surface is composed of two coplanar planar portions, the two planar portions are respectively located on opposite sides of the second top surface notch, the second substrate and the second substrate The two flat portions are in contact with each other, or the second top surface includes two step portions respectively located on two sides of the second top surface notch, each step portion including a second surface and a relative The second surface of the second surface is recessed, the second surface of the two step portions are coplanar, and the second substrate is in contact with the second surface of the two step portions.
  • the UAV of the present invention utilizes a clamping mechanism to detachably connect the arm to the fuselage of the UAV, facilitating replacement and maintenance.
  • FIG. 1 is a schematic perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 2 is a schematic view showing the assembly of the arm of the UAV of FIG. 1 and the arm clamping device assembly.
  • Figure 3 is a perspective view of the arm of Figure 2.
  • Figure 4 is a front elevational view of the outer casing of the arm of Figure 3.
  • Figure 5 is a cross-sectional view of the outer ring of the arm of Figure 4 taken along line V-V.
  • Figure 6 is a cross-sectional view of the outer ring of the arm of Figure 4 taken along line VI-VI.
  • Figure 7 is a front elevational view of the inner collar of the arm of Figure 3.
  • Figure 8 is a cross-sectional view of the inner collar of the arm of Figure 7 taken along line VIII-VIII.
  • Figure 9 is a partially enlarged perspective view showing the arm holding device of the UAV of Figure 1 assembled to the body.
  • Figure 10 is a cross-sectional view showing the exploded state of the first holding mechanism of the arm holding device of Figure 9;
  • Figure 11 is a cross-sectional view showing the assembled state of the first clamping mechanism of the arm holding device of Figure 9.
  • Figure 12 is a cross-sectional view showing the exploded state of the second holding mechanism of the arm holding device of Figure 9;
  • Figure 13 is a cross-sectional view showing the assembled state of the second clamping mechanism of the arm holding device of Figure 9;
  • FIG. 14 is a schematic cross-sectional view showing an exploded state of a first clamping mechanism of an unmanned aerial vehicle according to another embodiment of the present invention.
  • Figure 15 is a cross-sectional view showing the assembled state of the first holding mechanism of Figure 14.
  • 16 is a cross-sectional view showing an exploded state of a second clamping mechanism of an unmanned aerial vehicle according to another embodiment of the present invention.
  • Figure 17 is a cross-sectional view showing the assembled state of the second holding mechanism of Figure 16;
  • Unmanned aerial vehicle 100
  • the fuselage 10 The fuselage 10, the top plate 12, the top plate threaded hole 122, the bottom plate 14, the bottom plate threaded hole 142, the screw 124;
  • Arm clamping device 30 first clamping mechanism 32, second clamping mechanism 34;
  • the first clamping member 322 the first top surface 3221, the first bottom surface 3222, the first side surface 3223, the second side surface 3224, the third side surface 3225, the fourth side surface 3226, the first positioning through hole 3220, and the first top surface gap 3227, top threaded hole 3228, bottom threaded hole 3229, first surface 32212, second surface 32214, threaded hole 32210, first bottom surface notch 32222, side notch 32250;
  • a first pressing block 324 a first base body 3241, a first pressing portion 3242, a screw hole 3243, a first abutting surface 3244;
  • Second clamping member 342 second top surface 3421, second bottom surface 3422, fifth side surface 3423, sixth side surface 3424, Seven side faces 3425, eighth side face 3426, second positioning through hole 3420, second top face notch 3427, top threaded hole 3428, bottom threaded hole 3429, first face 34212, second face 34214, threaded hole 34210, second a bottom surface cutout 34222, a side surface cutout 34250;
  • the first locking member 326 and the second locking member 346 are identical to The first locking member 326 and the second locking member 346.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include one or more of the described features either explicitly or implicitly.
  • the meaning of "a plurality” is two or more unless specifically and specifically defined otherwise.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, may be electrically connected or may communicate with each other; may be directly connected, or may be indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship.
  • Connected, or integrally connected may be mechanically connected, may be electrically connected or may communicate with each other; may be directly connected, or may be indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • the first feature "on” or “under” the second feature may include direct contact of the first and second features, and may also include first and second features, unless otherwise specifically defined and defined. It is not in direct contact but through additional features between them.
  • the first feature "above”, “above” and “above” the second feature includes the first feature directly above and above the second feature, or merely indicating that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature includes the first feature directly below and below the second feature, or merely the first feature level being less than the second feature.
  • an unmanned aerial vehicle 100 is a quadrotor including a fuselage 10 , four arms 20 , and four arm clamping devices 30 .
  • the four arms 20 are evenly distributed around the body 10 in a "t" shape, and the four arms 20 are fixedly coupled to the body 10 by four arm clamping devices 30, respectively.
  • the UAV 100 may also be a six-rotor aircraft, an eight-rotor aircraft, or a more rotor-based aircraft.
  • the number of arms and arm clamping devices of different rotorcraft may vary.
  • the six-rotor aircraft has six arms and arm clamping devices
  • the eight-rotor aircraft has eight arms and arm clamping devices.
  • Other unmanned aerial vehicles are analogous, as long as no one is guaranteed. The number of arms on the aircraft and the number of arm holding devices are the same.
  • the body 10 includes a top plate 12 and a bottom plate 14 spaced apart from the top plate 12.
  • a plurality of top plate threaded holes 122 are defined in the top plate 12, and a plurality of bottom plate threaded holes 142 are formed in the bottom plate 14 in one-to-one correspondence with the plurality of top plate threaded holes 122.
  • each arm 20 includes a cylindrical body 22, an outer ring 24 sleeved on the outer circumferential surface of the shaft 22, and an inner ring 26 embedded in the shaft 22.
  • the rod body 22 includes oppositely disposed free ends 222 and fixed ends 224.
  • the rod body 22 is a carbon tube made of a carbon fiber material, and at least the fixed end 224 is a hollow structure.
  • the rod 22 may also be a plastic tube made of plastic.
  • the outer ring 24 is a closed ring including opposing outer surfaces 242 and inner surfaces 244.
  • the outer surface 242 includes a circular arc segment 2422 and a planar segment 2424 that encloses the circular arc segment 2422.
  • the outer ring 24 is provided with a dispensing hole 2442 extending through the outer surface 242 and the inner surface 244, and the dispensing hole 2442 is located on the circular arc segment 2422.
  • the number of the dispensing holes 2442 is one. In some embodiments, the number of the dispensing holes 2442 may be plural, and the plurality of dispensing holes 2442 are uniformly distributed on the outer ring 24.
  • the dispensing holes 2442 may all be formed on the flat portion 2424; or, the dispensing holes 2442 may be partially opened on the flat portion 2424, and partially opened in the On the arc segment 2422.
  • the inner surface 244 of the outer ring 24 extends from the opposite ends of the blocking ring 246.
  • the two blocking rings 246 and the inner surface 244 together form an annular adhesive groove 2444.
  • the adhesive groove 2444 communicates with the dispensing hole 2442.
  • the inner collar 26 is also a closed loop including opposing outer surfaces 262 and inner surfaces 264. Both outer surface 262 and inner surface 264 are annular.
  • the outer ring 24 is firstly sleeved on the outer circumferential surface of the rod body 22, and then a glue tool (not shown) is used to inject glue from the dispensing hole 2442 into the glue receiving groove 2442, thereby gluing the outer ring 24.
  • a glue tool (not shown) is used to inject glue from the dispensing hole 2442 into the glue receiving groove 2442, thereby gluing the outer ring 24.
  • the number of the dispensing holes 2442 is plural, and the plurality of dispensing holes 2442 are evenly distributed on the outer ring 24, it is ensured that the injected glue is uniformly distributed on the outer circumferential surface of the rod 22.
  • the outer surface 262 of the inner collar 26 is in contact with the inner circumferential surface of the shaft 22 It is engaged inside the rod 22 and at the fixed end 224 to strengthen the locking strength of the arm 20.
  • each of the arm clamping devices 30 includes a first clamping mechanism 32 and a second clamping mechanism 34 .
  • the first clamping mechanism 32 includes a first clamping member 322 and a first pressing block 324 and a first locking member 326 which is a screw.
  • the first clamping member 322 includes a first top surface 3221, a first bottom surface 3222, a first side surface 3223, a second side surface 3224, a third side surface 3225, and a fourth side surface 3226.
  • the first top surface 3221 is parallel to the first bottom surface 3222; the first side surface 3223 is parallel to the second side surface 3224; the third side surface 3225 is parallel to the fourth side surface 3226.
  • the first side surface 3223, the third side surface 3225, the second side surface 3224, and the fourth side surface 3226 are sequentially connected end to end and are vertically connected to the first top surface 3221 and the first bottom surface 3222.
  • the first clamping member 322 defines a first positioning through hole 3220 and a first top surface cutout 3227.
  • the first positioning through hole 3220 is circular and extends through the first side surface 3223 and the second side surface 3224.
  • the first top surface notch 3227 extends through and blocks the first top surface 3221, and the first top surface notch 3227 communicates with the first positioning through hole 3220.
  • the first top surface 3221 includes two step portions, and the two step portions are respectively located at two sides of the first top surface notch 3227.
  • Each step portion includes a first surface 32212 and a second surface 32214 recessed relative to the first surface 32212.
  • the second surface 32214 of the two step portions are coplanar and are each provided with a threaded hole 32210.
  • Two top threaded holes 3228 are defined in the first top surface 3221, and two top threaded holes 3228 are respectively located on opposite sides of the first top surface notch 3227.
  • the first bottom surface 3222 defines a first bottom surface notch 32222 and two bottom surface threaded holes 3229 spaced apart from the first positioning through hole 3220.
  • the side surface of the first bottom surface notch 32222 is a smooth curved surface.
  • Two bottom threaded holes 3229 are respectively located at two sides of the first bottom surface notch 32222.
  • the third side 3225 and the fourth side 3226 are each provided with a side notch 32250 spaced apart from the first positioning through hole 3220.
  • the side of the side notch 32250 is a smooth curved surface.
  • the opening of the first bottom surface 3222 and the side surface 32250 can save material, reduce the overall weight of the UAV 100, and facilitate flight; on the other hand, increase the first positioning when the arm 20 is inserted into the first positioning through hole 3220.
  • the inner surface of the through hole 3220 is elastic to facilitate insertion of the arm 20 into the first positioning through hole 3220.
  • the first pressing block 324 includes a first base body 3241 in the shape of a strip and a first pressing portion 3242 that protrudes outward from a surface of the first base body 3241.
  • Two screw holes 3243 are defined in the first base body 3241.
  • the shape and size of the first pressing portion 3242 is matched with the shape and size of the first top surface notch 3227. In the longitudinal direction of the first base body 3241, the size of the first pressing portion 3242 is smaller than the size of the first base portion 3241, so that The two screw holes 3243 of the first base body 3241 are respectively located at two sides of the first pressing portion 3242.
  • the first pressing portion 3242 includes a first abutting surface 3244 away from the first base body 3241 , and the first abutting surface 3244 is located in the first top surface notch 3227 and faces the first positioning through hole 3220 .
  • the first abutting surface 3244 is a plane corresponding to the plane segment 2424.
  • the screw 124 passes through the top plate threaded hole 122 and is locked into the threaded hole 3228 of the first top surface 3221, and a screw (not shown) passes through the bottom plate threaded hole 142. And locking into the bottom of the first bottom surface 3222
  • the first clamping member 322 is fixed between the top plate 12 of the body 10 and the bottom plate 14 in the threaded hole 3229.
  • the first locking member 326 sequentially passes through the top plate threaded hole 122 and the screw hole 3243 and is locked into the threaded hole 32210 on the second surface 32214.
  • the first base body 3241 is carried on the second surface 32214, the first pressure.
  • the tight portion 3242 is located within the first top surface notch 3227 and faces the first positioning through hole 3220.
  • the first top surface 3221 is spaced from the top plate 12, that is, the first top surface 3221 is not in contact with the top plate 12 with a gap therebetween.
  • the first top surface 3221 can also be fixed to the top plate 12 by a snapping manner; or, the first top surface 3221 can also be fixed to the top plate 12 by a combination of a screw connection and a snapping manner.
  • the first bottom surface 3222 can also be fixed to the bottom plate 14 by a snapping manner; or the first bottom surface 3222 can be fixed to the bottom plate 14 by a combination of a screw connection and a snapping manner.
  • the first pressing block 324 can also be fixed in the first top surface notch 3227 of the first clamping member 322 by a snap fit or a screw connection in combination with the snap fit.
  • the second faces 32214 of the two step portions of the first top surface 3221 may not be coplanar, and only the second faces 32214 of the two step portions and the second substrate of the first pressing block 324 are required.
  • the shape of the 3241 can be matched with the size.
  • the second clamping mechanism 34 includes a second clamping member 342 and a second pressing block 344 and a second locking member 346 which is a screw.
  • the second clamping member 342 includes a second top surface 3421, a second bottom surface 3422, a fifth side surface 3423, a sixth side surface 3424, a seventh side surface 3425, and an eighth side surface 3426.
  • the second top surface 3421 is parallel to the second bottom surface 3422;
  • the fifth side surface 3423 is parallel to the sixth side surface 3424;
  • the seventh side surface 3425 is parallel to the eighth side surface 3426.
  • the fifth side surface 3423, the seventh side surface 3425, the sixth side surface 3424, and the eighth side surface 3426 are sequentially connected end to end and are perpendicularly connected to the second top surface 3421 and the second bottom surface 3422.
  • the second clamping member 342 is provided with a second positioning through hole 3420 and a second top surface notch 3427.
  • the second positioning through hole 3420 is circular and extends through the fifth side surface 3423 and the sixth side surface 3424.
  • the second top surface notch 3427 penetrates and blocks the second top surface 3421, and the second top surface notch 3427 communicates with the second positioning through hole 3420.
  • the second top surface notch 3427 partitions the inner surface of the second positioning through hole 3420 into a non-closed superior curved surface.
  • the second top surface 3421 includes two step portions, and the two step portions are respectively located at two sides of the second top surface notch 3427.
  • Each step portion includes a first surface 34212 and a second surface 34214 recessed relative to the first surface 34212.
  • the second surface 34214 of the two step portions are coplanar and are each provided with a threaded hole 34210.
  • the second top surface 3421 is provided with two top threaded holes 3428, and the two top threaded holes 3428 are respectively located at two sides of the second top surface notch 3427.
  • the second bottom surface 3422 defines a second bottom surface notch 34422 spaced apart from the second positioning through hole 3420 and two bottom threaded holes 3429.
  • the side surface of the second bottom surface notch 34222 is a smooth curved surface.
  • Two bottom threaded holes 3429 are respectively located at two sides of the second bottom surface notch 34422.
  • the seventh side surface 3425 and the eighth side surface 3426 are each provided with a side notch 34250 spaced apart from the second positioning through hole 3420.
  • the side of the side notch 34250 is a smooth curved surface.
  • the opening of the second bottom surface notch 34422 and the side surface cutout 34250 can save material, reduce the overall weight of the UAV 100, and facilitate flight; on the other hand, the second arm is inserted into the arm 20 When the through hole 3420 is positioned, the elasticity of the inner surface of the second positioning through hole 3420 is increased to facilitate insertion of the arm 20 into the second positioning through hole 3420.
  • the second pressing block 344 includes a second base body 3441 in the shape of a strip and a second pressing portion 3442 which is outwardly convex from a surface of the second base body 3441.
  • Two screw holes 3443 are formed in the second base body 3441.
  • the shape and size of the second pressing portion 3442 is matched with the shape and size of the second top surface notch 3427. In the longitudinal direction of the second base body 3441, the size of the second pressing portion 3442 is smaller than the size of the second base portion 3441, so that The two screw holes 3443 of the second base body 3441 are respectively located at two sides of the second pressing portion 3442.
  • the second pressing portion 3442 includes a second abutting surface 3244 away from the second base body 3441.
  • the second abutting surface 3244 is located in the second top surface notch 3427 and faces the second positioning through hole 3420.
  • the second abutting surface 3244 is a bad arc surface to form a complete ring with the inner surface of the second positioning through hole 3420.
  • the screw 124 passes through the top plate threaded hole 122 and is locked into the threaded hole 3428 on the second top surface 3421, and the screw (not shown) passes through the bottom plate thread.
  • the hole 142 is locked into the bottom threaded hole 3429 of the second bottom surface 3422 to fix the second clamping member 342 between the top plate 12 and the bottom plate 14 of the body 10; then, the second locking member 346 is sequentially worn.
  • the second base body 3441 is carried on the second surface 34214, and the second pressing portion 3442 is located in the second top surface notch 3427. And facing the second positioning through hole 3420.
  • the second top surface 3421 is spaced from the top panel 12, that is, the second top surface 3421 is not in contact with the top panel 12 with a gap therebetween.
  • the second top surface 3421 can also be fixed on the top plate 12 by a snapping manner; or the second top surface 3421 can also be fixed to the top plate 12 by a combination of a screw connection and a snapping manner.
  • the second bottom surface 3422 can also be fixed to the bottom plate 14 by a snapping manner; or the second bottom surface 3422 can be fixed to the bottom plate 14 by a combination of a screw connection and a snapping manner.
  • the second pressing block 344 can also be fixed in the second top surface notch 3427 of the second clamping member 342 by a snapping manner or a combination of a screw connection and a snap fit.
  • the second faces 34214 of the two stepped portions of the second top surface 3421 may not be coplanar, and only the second faces 34214 of the two step portions and the second substrate of the second pressing block 344 are required.
  • 3441 shape and size can be matched.
  • the first clamping mechanism 32 and the second clamping mechanism 34 corresponding to the arm 20 are respectively assembled to the body 10 in the above manner.
  • the first clamping mechanism 32 and the second clamping mechanism 34 are parallel to each other, and the two first positioning through holes 3220 are coaxially disposed with the second positioning through holes 3420.
  • the screw 124 locks the first clamping member 322 and the second clamping member 342 between the top plate 12 and the bottom plate 14 of the body 10, and the first locking member 326 is mainly limited and not fully locked.
  • the first pressing block 324; the second locking member 346 is also mainly limited, and does not completely lock the second pressing block 344.
  • the first top surface 3221 and the second top surface 3421 are spaced apart from the top plate 12.
  • the fixed end 224 of the arm 20 is sequentially passed through the first positioning through hole 3220 and the second positioning through hole 3420, and the free end 222 of the arm 20 is extended to extend the length of the body 10 as needed.
  • the outer ring 24 is in the first set In the through hole 3220, the circular arc segment 2422 is in contact with the inner surface of the first positioning through hole 3220, and the flat portion 2424 is perpendicular to the central axis of the first top surface notch 3227 and is in contact with the first abutting surface 3244.
  • the outer circumferential surface of the rod body 22 is in contact with the inner surface of the second positioning through hole 3420, and the inner collar 26 corresponds to the position of the second clamping mechanism 34.
  • the second abutting surface 3444 is attached to the outer circumferential surface of the rod body 22. Hehe. Since the inner surface of the first positioning through hole 3220 and the inner surface of the second positioning through hole 3420 are both a non-closed superior arc surface, after the arm 20 passes through the first positioning through hole 3220 and the second positioning through hole 3420, The first positioning through hole 3220 and the second positioning through hole 3420 can function as a limit and a radial positioning of the arm 20 individually or collectively.
  • the first clamping member 324 is locked and fixed on the first clamping member 322, so that the first abutting surface 3244 is in close contact with the planar portion 2424, and the circular arc segment 2422
  • the inner surface of the first positioning through hole 3220 is in close contact with each other, thereby integrally locking the arm 20 to the first clamping member 322 by static friction.
  • the second clamping member 346 is locked and fixed on the second clamping member 342 so that the second abutting surface 3444 is in close contact with the outer circumferential surface of the rod body 22, and the rod body 22 is The other portion of the outer circumferential surface is in close contact with the inner surface of the second positioning through hole 3420, thereby further locking the arm 20 integrally with the second holding member 342 by static friction.
  • first base body 3241 and the two second faces 32214 are in contact with each other to slightly adjoin the first base body 3241 with respect to the second surface 32212, and the second base body 3441 is in contact with the two second faces 34214 to make the second base body 3441 relatively
  • the second surface 34212 is slightly retracted, so that the volume of the first clamping mechanism 32 and the second clamping mechanism 34 can be reduced.
  • first abutting surface 3244 is perpendicular to the central axis of the first top surface notch 3227, and the second abutting surface 3444 and the inner surface of the second positioning through hole 3420 constitute a complete circular ring.
  • the second abutting surface 3444 may be disposed as a rough surface to increase the static friction force with the outer circumferential surface of the rod body 22 to increase the locking force.
  • the inner collar 26 functions to increase the locking strength of the arm 20 during the locking process.
  • the first top surface 3221 and the second top surface 3421 are still spaced from the top plate 12, so that the UAV 100 can be prevented from vibrating during the flight and the first and second clamping members 322 and the second clamping member during the flight.
  • the holder 342 is deformed by stress to cause deformation of the body 10.
  • the arm clamping device 30 of the UAV can include only the first clamping mechanism 32, At this time, with respect to the unmanned aerial vehicle 100 described above, the inner collar 26 and the second clamping mechanism 34 may be omitted, or only the second clamping mechanism 34 may be omitted, and the inner collar 26 may be disposed at the first The corresponding position of the clamping mechanism 32.
  • the arm gripping device 30 of the UAV may include only the second gripping mechanism 34, in which case the outer collar 24 and the first grip may be omitted relative to the unmanned aerial vehicle 100 described above. Agency 34.
  • the arm gripping device 30 of the UAV can include two first gripping mechanisms 32.
  • the arm 20 includes two outer collars 24, each of which is sleeved over In the two first clamping mechanisms 32.
  • the arm gripping device 30 of the UAV can include two second gripping mechanisms 34, corresponding
  • the arm 20 may be provided with no outer ring 24 and an inner collar 26. Then, one of the second clamping mechanisms 34 corresponds to the inner collar 26, and the other clamping mechanism 34 is directly clamped to the shaft 22.
  • the first top surface 3221 is composed of two planar portions that are coplanar, and the two planar portions are respectively located on opposite sides of the first top surface cutout 3227, after assembly, A base body 3241 is in contact with the two planar portions.
  • the second top surface 3421 is composed of two planar portions that are coplanar, and the two planar portions are respectively located on opposite sides of the second top surface cutout 3427.
  • the two base body 3441 is in contact with the two planar portions.
  • the third side 3225 and the fourth side 3226 may be one of the side notches 32250 spaced apart from the first positioning through hole 3220.
  • the side of the side notch 32250 and the side of the first bottom surface notch 32222 may be one of which is a smooth curved surface.
  • the side surface of the side notch 32250 and the side surface of the first bottom surface notch 32222 may also be other forms of faces, such as any one or more combinations of a plurality of regular planes, a plurality of irregular planes, and an uneven surface.
  • one of the side of the side notch 34250 and the side of the second bottom notch 34222 may be a smooth curved surface.
  • the side surface of the side notch 34250 and the side surface of the first bottom surface notch 34422 may also be other forms of faces, such as any one or more combinations of a plurality of regular planes, a plurality of irregular planes, and a non-smooth surface.
  • first clamping mechanism 32 and the second clamping mechanism 34 can be any combination of the above embodiments, and will not be developed in detail herein.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

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Abstract

公开一种无人飞行器，包括机身(10)、机臂(20)及机臂夹持装置(30)。机臂(20)包括相对的自由端(222)及固定端(224)。机臂夹持装置(30)包括与机身(10)连接的第一夹持机构(32)。第一夹持机构(32)包括第一夹持件(322)及第一压紧块(324)。第一夹持件(322)包括相背的第一顶面(3221)及底面(3222)、相背的第一及第二侧面(3223、3224)，第一与第二侧面(3223、3224)均连接第一顶面(3221)及底面(3222)，第一夹持件(322)开设有贯穿第一及第二侧面(3223、3224)的第一定位通孔(3220)，第一顶面(3221)开设有与第一定位通孔(3220)连通并将第一顶面(3221)隔断的第一顶面缺口(3227)，第一底面(3222)开设有与第一定位通孔(3220)相间隔的第一底面缺口(32222)。第一压紧块(324)包括第一基体(3241)及自第一基体(3241)向外凸起的第一压紧部(3242)，第一压紧部(3242)与第一顶面缺口(3227)相配合并能够拆卸地装设在第一顶面缺口(3227)内。固定端(224)穿设在第一定位通孔(3220)内并与第一压紧部(3242)抵持。

Description

无人飞行器 技术领域
本发明涉及飞行器技术领域，尤其是涉及一种无人飞行器。
背景技术
无人飞行器，是一种处在迅速发展中的飞行装置，其具有机动灵活、反应快速、无人飞行、操作要求低的优点。无人机通过搭载多类传感器，可以实现影像实时传输、高危地区探测功能，是卫星遥感与传统航空遥感的有力补充。目前，无人机的使用范围已经扩宽到军事、科研、民用三大领域，具体在电力、通信、气象、农业、海洋、勘探、摄影、防灾减灾、农作物估产、缉毒缉私、边境巡逻、治安反恐等领域应用甚广。
无人飞行器通常包括机身、与机身相连的机臂、设于机臂上用于驱动所述无人飞行器飞行的动力系统、以及用于控制所述多旋翼无人飞行器飞行的控制系统。无人飞行器的机身与机臂之间一般使用强力胶水粘接的方式进行连接，采用此种固定方式的无人飞行器，机臂不能拆卸，且在机臂发生损坏的情况下，需要将机身上与机臂连接的模块整体替换掉。
发明内容
本发明的实施方式旨在至少解决现有技术中存在的技术问题之一。为此，本发明的实施方式需要提供一种无人飞行器。
本发明提供一种无人飞行器，包括机身以及至少一个机臂，所述机臂包括相对设置的自由端及固定端，所述无人飞行器还包括机臂夹持装置，所述机臂夹持装置包括与所述机身连接的第一夹持机构，所述第一夹持机构包括：
第一夹持件，包括相背的第一顶面及第一底面、相背的第一侧面及第二侧面，所述第一侧面与所述第二侧面均连接所述第一顶面及所述第一底面，所述第一夹持件开设有贯穿所述第一侧面及所述第二侧面的第一定位通孔，所述第一顶面开设有与所述第一定位通孔连通并将所述第一顶面隔断的第一顶面缺口，所述第一底面开设有与所述第一定位通孔相间隔的第一底面缺口；及
第一压紧块，包括第一基体及自所述第一基体向外凸起的第一压紧部，所述第一压紧部与所述第一顶面缺口相配合并能够拆卸地装设在所述第一顶面缺口内；
所述机臂的所述固定端穿设在所述第一定位通孔内并与所述第一压紧部抵持。
在某些实施方式中，所述第一夹持件还包括相背的第三侧面及第四侧面，所述第一侧面、所述第三侧面、所述第二侧面及所述第四侧面依次首尾相接并均连接所述第一顶面及所述第一底面，所述第三侧面及/或第四侧面开设有与所述第一定位通孔相间隔的侧面缺口。
在某些实施方式中，所述机身包括顶板及与所述顶板间隔相对的底板，所述第一夹持机构安装在所述顶板与所述底板之间，所述第一顶面通过螺钉锁合或/及卡合在所述顶板上，所述第一底面通过螺钉锁合或/及卡合在所述底板上，所述第一顶面与所述顶板间隔。
在某些实施方式中，所述机臂包括呈圆柱体形的杆体及套设在所述杆体外圆周面上的外套环，所述外套环的外表面包括圆弧段及封闭所述圆弧段的平面段，所述外套环位于所述第一定位通孔内，所述圆弧段与所述第一定位通孔的内表面抵触，所述第一压紧部与所述平面段抵持。
在某些实施方式中，所述外套环开设有贯穿所述外套环的内表面及所述外套环的外表面的点胶孔，所述外套环的内表面在相背两端分别延伸出阻挡环，所述两个阻挡环与所述内表面共同形成一个容胶槽，所述点胶孔与所述容胶槽连通。
在某些实施方式中，所述机臂还包括内嵌在所述杆体中的内套环，所述内套环的外表面与所述杆体的内圆周面抵触，所述内套环位于所述固定端并与所述第一夹持机构的位置对应。
在某些实施方式中，所述第一顶面由共面的两个平面部组成，所述两个平面部分别位于所述第一顶面缺口的两侧，所述第一基体与所述两个平面部抵触，或者，所述第一顶面包括两个阶梯部，所述两个阶梯部分别位于所述第一顶面缺口的两侧，每个阶梯部包括一个第一面及相对所述第一面凹陷的第二面，两个阶梯部的第二面共面，所述第一基体与所述两个阶梯部的第二面抵触。
在某些实施方式中，所述第一压紧部包括远离所述第一基体的第一抵持面，所述第一抵持面位于所述第一顶面缺口内并朝向所述第一定位通孔，所述第一抵持面为平面；或所述第一抵持面为劣弧面以与所述第一定位通孔的内表面组成一个完整的圆环。
在某些实施方式中，所述机臂夹持装置还包括安装在所述顶板与所述底板之间的第二夹持机构，所述第二夹持机构包括：
第二夹持件，包括相背的第二顶面及第二底面、相背的第五侧面及第六侧面，所述第五侧面与所述第六侧面均连接所述第一顶面及所述第一底面，所述第一夹持件开设有贯穿所述第五侧面及所述第六侧面的第二定位通孔，所述第二顶面开设有与所述第二定 位通孔连通并将所述第二顶面隔断的第二顶面缺口，所述第二底面开设有与所述第二定位通孔相间隔的第二底面缺口；及
第二压紧块，包括第二基体及自所述第二基体向外凸起的第二压紧部，所述第二压紧部与所述第二顶面缺口相配合并能够拆卸地装设在所述第二顶面缺口内；
所述机臂的所述固定端穿设在所述第二定位通孔内并与所述二压紧部抵持。
在某些实施方式中，所述第二顶面通过螺钉锁合或/及卡合在所述顶板上，所述第二底面通过螺钉锁合或/及卡合在所述底板上，所述第二顶面与所述顶板间隔。
在某些实施方式中，所述第二夹持件还包括相背的第七侧面及第八侧面，第五侧面、第七侧面、第六侧面及第八侧面依次首尾相接并均连接所述第二顶面及所述第二底面，所述第七侧面及/或第八侧面开设有与所述第二定位通孔相间隔的侧面缺口。
在某些实施方式中，所述机臂包括呈圆柱体形的杆体及套设在所述杆体外圆周面上的外套环，所述外套环的外表面包括圆弧段及封闭所述圆弧段的平面段，所述外套环位于所述第二定位通孔内，所述圆弧段与所述第一定位通孔的内表面抵触，所述第一压紧部与所述平面段抵持，所述外套环开设有贯穿所述外套环的内表面及所述外套环的外表面的点胶孔。
在某些实施方式中，所述外套环的内表面在相背两端分别延伸出阻挡环，所述两个阻挡环与所述内表面共同形成一个容胶槽，所述点胶孔与所述容胶槽连通。
在某些实施方式中，所述机臂还包括内嵌在所述杆体中的内套环，所述内套环的外表面与所述杆体的内圆周面抵触，所述内套环位于所述固定端并与所述第二夹持机构的位置对应。
在某些实施方式中，所述第二顶面由共面的两个平面部组成，所述两个平面部分别位于所述第二顶面缺口的两侧，所述第二基体与所述两个平面部抵触，或者，所述第二顶面包括两个阶梯部，所述两个阶梯部分别位于所述第二顶面缺口的两侧，每个阶梯部包括一个第二面及相对所述第二面凹陷的第二面，两个阶梯部的第二面共面，所述第二基体与所述两个阶梯部的第二面抵触。
本发明中的无人飞行器利用夹持机构将机臂能够拆卸地连接在无人飞行器的机身上，利于更换及保养。
本发明的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实施方式的实践了解到。
附图说明
本发明的实施方式的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中 将变得明显和容易理解，其中：
图1是本发明一实施方式提供的无人飞行器的立体组装示意图。
图2是图1中的无人飞行器的机臂与机臂夹持装置装配的装配示意图。
图3是图2中的机臂的立体示意图。
图4是图3中的机臂的外套环的主视图。
图5是图4中的机臂的外套环沿线V-V的剖视图。
图6是图4中的机臂的外套环沿线VI-VI的剖视图。
图7是图3中的机臂的内套环的主视图。
图8是图7中的机臂的内套环沿线VIII-VIII的剖视图。
图9是图1中无人飞行器的机臂夹持装置装配到机身上的部分立体放大示意图。
图10是图9中机臂夹持装置的第一夹持机构分解状态的剖面示意图。
图11是图9中机臂夹持装置的第一夹持机构组装状态的剖面示意图。
图12是图9中机臂夹持装置的第二夹持机构分解状态的剖面示意图。
图13是图9中机臂夹持装置的第二夹持机构组装状态的剖面示意图。
图14是本发明另一实施方式提供的无人飞行器的第一夹持机构分解状态的剖面示意图。
图15是图14中第一夹持机构组装状态的剖面示意图。
图16是本发明另一实施方式提供的无人飞行器的第二夹持机构分解状态的剖面示意图。
图17是图16中第二夹持机构组装状态的剖面示意图。主要元件符号说明：
无人飞行器100；
机身10、顶板12、顶板螺纹孔122、底板14、底板螺纹孔142、螺钉124；
机臂20、杆体22、自由端222、固定端224、外套环24、外表面242、圆弧段2422、平面段2424、内表面244、点胶孔2442、容胶槽2444、阻挡环246、内套环26、外表面262、内表面264；
机臂夹持装置30、第一夹持机构32、第二夹持机构34；
第一夹持件322、第一顶面3221、第一底面3222、第一侧面3223、第二侧面3224、第三侧面3225、第四侧面3226、第一定位通孔3220、第一顶面缺口3227、顶面螺纹孔3228、底面螺纹孔3229、第一面32212、第二面32214、螺纹孔32210、第一底面缺口32222、侧面缺口32250；
第一压紧块324、第一基体3241、第一压紧部3242、螺孔3243、第一抵持面3244；
第二夹持件342、第二顶面3421、第二底面3422、第五侧面3423、第六侧面3424、第 七侧面3425、第八侧面3426、第二定位通孔3420、第二顶面缺口3427、顶面螺纹孔3428、底面螺纹孔3429、第一面34212、第二面34214、螺纹孔34210、第二底面缺口34222、侧面缺口34250；
第二压紧块344、第二基体3441、第二压紧部3442、螺孔3443、第二抵持面3244
第一锁紧件326、第二锁紧件346。
具体实施方式
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重 复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
请参阅图1，本发明一实施方式提供的无人飞行器100为四旋翼飞行器，包括一个机身10、四个机臂20、四个机臂夹持装置30。四个机臂20均匀分布在机身10的周围，呈“十”字形排列，且四个机臂20分别通过四个机臂夹持装置30与机身10固定连接。
在其他实施方式中，无人飞行器100还可以是六旋翼飞行器、八旋翼飞行器、或者是更多旋翼的飞行器，对应地，不同的旋翼飞行器的机臂以及机臂夹持装置的数量也会不同，例如，六旋翼飞行器的机臂及机臂夹持装置均为六个，八旋翼飞行器的机臂及机臂夹持装置均为八个，其他的无人飞行器则依次类推，只要保证无人飞行器上的机臂的数量及机臂夹持装置的数量相同即可。
请结合图2，机身10包括顶板12及与顶板12间隔相对的底板14。顶板12上开设有多个顶板螺纹孔122，底板14上开设有与多个顶板螺纹孔122一一对应的多个底板螺纹孔142。
请一并参阅图2及图3，每个机臂20包括一个呈圆柱体形的杆体22、套设在杆体22外圆周面上的外套环24、以及内嵌在杆体22中的内套环26。杆体22包括相对设置的自由端222及固定端224。本实施方式中，杆体22是采用碳纤维材料制成的碳管，且至少固定端224为中空结构。在其他实施方式中，杆体22还可以是采用塑胶制成的塑胶管。
请一并参阅图3至图6，外套环24为一个封闭的环，包括相背的外表面242及内表面244。外表面242包括圆弧段2422以及封闭圆弧段2422的平面段2424。外套环24开设有一个贯穿外表面242及内表面244的点胶孔2442，点胶孔2442位于圆弧段2422上。本实施方式中，点胶孔2442的个数为一个，在某些实施方式中，点胶孔2442的个数可为多个，多个点胶孔2442均匀分布在外套环24上。在某些实施方式中，点胶孔2442的个数为多个时：点胶孔2442可以全部开设在平面段2424上；或者，点胶孔2442可以部分开设在平面段2424上，部分开设在圆弧段2422上。外套环24的内表面244在相背两端分别延伸出阻挡环246，两个阻挡环246与内表面244共同形成一个环形的容胶槽2444，容胶槽2444与点胶孔2442连通。
请一并参阅图3及图7-8，内套环26也为一个封闭的环，包括相背的外表面262及内表面264。外表面262及内表面264均为圆环形。
组装机臂20时，外套环24先套设在杆体22外圆周面上，再使用点胶工具(图未示)从点胶孔2442向容胶槽2442内注入胶，从而使外套环24胶合固定在杆体22的固定端224。当点胶孔2442的个数为多个，且多个点胶孔2442均匀分布在外套环24上时，则能够保证注入的胶均匀分布在杆体22外圆周面上。内套环26的外表面262与杆体22的内圆周面抵触 而卡合在杆体22内部并位于固定端224处，以加强机臂20的锁紧强度。
请参阅图9，每个机臂夹持装置30包括第一夹持机构32及第二夹持机构34。
请一并参阅图9至图11，第一夹持机构32包括一个第一夹持件322以及一个第一压紧块324、一个为螺钉的第一锁紧件326。
第一夹持件322包括第一顶面3221、第一底面3222、第一侧面3223、第二侧面3224、第三侧面3225及第四侧面3226。第一顶面3221与第一底面3222平行相背；第一侧面3223与第二侧面3224平行相背；第三侧面3225与第四侧面3226平行相背。第一侧面3223、第三侧面3225、第二侧面3224及第四侧面3226依次首尾相接并均垂直连接第一顶面3221及第一底面3222。
第一夹持件322开设有第一定位通孔3220以及第一顶面缺口3227。第一定位通孔3220为圆形，并贯穿第一侧面3223及第二侧面3224。第一顶面缺口3227贯穿并隔断第一顶面3221，第一顶面缺口3227与第一定位通孔3220连通。
本实施方式中，第一顶面3221包括两个阶梯部，两个阶梯部分别位于第一顶面缺口3227的两侧。每个阶梯部包括一个第一面32212及相对第一面32212凹陷的第二面32214，两个阶梯部的第二面32214共面，且均开设有螺纹孔32210。第一顶面3221上开设有两个顶面螺纹孔3228，两个顶面螺纹孔3228分别位于第一顶面缺口3227的两侧。第一底面3222开设有与第一定位通孔3220相间隔的第一底面缺口32222及两个底面螺纹孔3229。第一底面缺口32222的侧面为平滑曲面。两个底面螺纹孔3229分别位于第一底面缺口32222的两侧。第三侧面3225及第四侧面3226均开设有与第一定位通孔3220相间隔的侧面缺口32250。侧面缺口32250的侧面为平滑曲面。第一底面缺口32222与侧面缺口32250的开设一方面能够节省材料，减轻无人飞行器100的整体重量，利于飞行；另一方面在机臂20插入第一定位通孔3220时，增大第一定位通孔3220的内表面的弹性，以方便机臂20插入第一定位通孔3220内。
第一压紧块324包括呈条形板状的第一基体3241及自第一基体3241的一表面向外凸起的第一压紧部3242。第一基体3241上开设有两个螺孔3243。第一压紧部3242的形状与尺寸与第一顶面缺口3227的形状与尺寸配合，在第一基体3241的长度方向上，第一压紧部3242的尺寸小于第一基体3241的尺寸，使第一基体3241的两个螺孔3243分别位于第一压紧部3242的两侧。第一压紧部3242包括远离第一基体3241的第一抵持面3244，第一抵持面3244位于第一顶面缺口3227内并朝向第一定位通孔3220。本实施方式中，第一抵持面3244为与平面段2424对应的平面。
第一夹持机构32组装到机身10上时，螺钉124穿过顶板螺纹孔122并锁合进第一顶面3221上的螺纹孔3228内，螺钉(图未示)穿过底板螺纹孔142并锁合进第一底面3222上的底 面螺纹孔3229内，从而将第一夹持件322固定在机身10的顶板12与底板14之间。此时，第一锁紧件326依次穿过顶板螺纹孔122、螺孔3243后锁合进第二面32214上的螺纹孔32210内，第一基体3241承载在第二面32214上，第一压紧部3242位于第一顶面缺口3227内并朝向第一定位通孔3220。第一顶面3221与顶板12间隔，即，第一顶面3221与顶板12不接触，二者之间存在间隙。
可以理解，在其他实施方式中，第一顶面3221还可通过卡合方式固定在顶板12上；或者，第一顶面3221还可通过螺纹连接方式与卡合方式的组合方式固定在顶板12上；对应地，第一底面3222还可通过卡合方式固定在底板14上；或者，第一底面3222还可通过螺纹连接方式与卡合方式的组合方式固定在底板14上。第一压紧块324还可通过卡合方式或螺纹连接与卡合相组合的方式固定在第一夹持件322的第一顶面缺口3227内。
在本发明其他实施方式中，第一顶面3221的两个阶梯部的第二面32214可以不共面，只需要两个阶梯部的第二面32214与第一压紧块324的第二基体3241形状与尺寸配合即可。
请一并参阅图9、图12及图13，第二夹持机构34包括一个第二夹持件342以及一个第二压紧块344、一个为螺钉的第二锁紧件346。
第二夹持件342包括第二顶面3421、第二底面3422、第五侧面3423、第六侧面3424、第七侧面3425及第八侧面3426。第二顶面3421与第二底面3422平行相背；第五侧面3423与第六侧面3424平行相背；第七侧面3425与第八侧面3426平行相背。第五侧面3423、第七侧面3425、第六侧面3424及第八侧面3426依次首尾相接并均垂直连接第二顶面3421及第二底面3422。
第二夹持件342开设有第二定位通孔3420以及第二顶面缺口3427。第二定位通孔3420为圆形，并贯穿第五侧面3423及第六侧面3424。第二顶面缺口3427贯穿并隔断第二顶面3421，第二顶面缺口3427与第二定位通孔3420连通。具体地，第二顶面缺口3427将第二定位通孔3420的内表面隔断为一段非闭合的优弧面。
本实施方式中，第二顶面3421包括两个阶梯部，两个阶梯部分别位于第二顶面缺口3427的两侧。每个阶梯部包括一个第一面34212及相对第一面34212凹陷的第二面34214，两个阶梯部的第二面34214共面，且均开设有螺纹孔34210。第二顶面3421上开设有两个顶面螺纹孔3428，两个顶面螺纹孔3428分别位于第二顶面缺口3427的两侧。第二底面3422开设有与第二定位通孔3420相间隔的第二底面缺口34222及两个底面螺纹孔3429。第二底面缺口34222的侧面为平滑曲面。两个底面螺纹孔3429分别位于第二底面缺口34222的两侧。第七侧面3425及第八侧面3426均开设有与第二定位通孔3420相间隔的侧面缺口34250。侧面缺口34250的侧面为平滑曲面。第二底面缺口34222与侧面缺口34250的开设一方面能够节省材料，减轻无人飞行器100的整体重量，利于飞行；另一方面在机臂20插入第二定 位通孔3420时，增大第二定位通孔3420的内表面的弹性，以方便机臂20插入第二定位通孔3420内。
第二压紧块344包括呈条形板状的第二基体3441及自第二基体3441的一表面向外凸起的第二压紧部3442。第二基体3441上开设有两个螺孔3443。第二压紧部3442的形状与尺寸与第二顶面缺口3427的形状与尺寸配合，在第二基体3441的长度方向上，第二压紧部3442的尺寸小于第二基体3441的尺寸，使第二基体3441的两个螺孔3443分别位于第二压紧部3442的两侧。第二压紧部3442包括远离第二基体3441的第二抵持面3244，第二抵持面3244位于第二顶面缺口3427内并朝向第二定位通孔3420。本实施方式中，第二抵持面3244为劣弧面以与第二定位通孔3420的内表面组成一个完整的圆环。
第二夹持机构34组装到机身10上时，首先，螺钉124穿过顶板螺纹孔122并锁合进第二顶面3421上的螺纹孔3428内，螺钉(图未示)穿过底板螺纹孔142并锁合进第二底面3422上的底面螺纹孔3429内，从而将第二夹持件342固定在机身10的顶板12与底板14之间；接着，第二锁紧件346依次穿过顶板螺纹孔122、螺孔3443后锁合进第二面34214上的螺纹孔34210内，第二基体3441承载在第二面34214上，第二压紧部3442位于第二顶面缺口3427内并朝向第二定位通孔3420。第二顶面3421与顶板12间隔，即，第二顶面3421与顶板12不接触，二者之间存在间隙。
可以理解，在其他实施方式中，第二顶面3421还可通过卡合方式固定在顶板12上；或者，第二顶面3421还可通过螺纹连接方式与卡合方式的组合方式固定在顶板12上；对应地，第二底面3422还可通过卡合方式固定在底板14上；或者，第二底面3422还可通过螺纹连接方式与卡合方式的组合方式固定在底板14上。第二压紧块344还可通过卡合方式、或螺纹连接与卡合相组合的方式固定在第二夹持件342的第二顶面缺口3427内。
在本发明其他实施方式中，第二顶面3421的两个阶梯部的第二面34214可以不共面，只需要两个阶梯部的第二面34214与第二压紧块344的第二基体3441形状与尺寸配合即可。
下面以其中一个机臂20来说明装拆过程，其他机臂20的装拆过程则与此相同。请一并参阅图2-3及图9-13，组装时，第一步，将与机臂20对应的第一夹持机构32及第二夹持机构34分别采用上述方式组装到机身10上，第一夹持机构32与第二夹持机构34相互平行，且两个第一定位通孔3220与第二定位通孔3420同轴设置。其中，螺钉124将第一夹持件322及第二夹持件342锁紧在机身10的顶板12与底板14之间，而第一锁紧件326主要是限位，并不完全锁紧第一压紧块324；第二锁紧件346也主要是限位，并不完全锁紧第二压紧块344。第一顶面3221及第二顶面3421与顶板12均间隔。
第二步，将机臂20的固定端224依次穿过第一定位通孔3220及第二定位通孔3420，并根据需要调节机臂20的自由端222伸出于机身10的长度。此时，外套环24位于第一定 位通孔3220内，圆弧段2422与第一定位通孔3220的内表面抵触，平面段2424与第一顶面缺口3227的中心轴线垂直并与第一抵持面3244贴合。杆体22的外圆周面与第二定位通孔3420的内表面抵触，内套环26与第二夹持机构34的位置对应，具体地，第二抵持面3444与杆体22的外圆周面贴合。由于第一定位通孔3220的内表面及第二定位通孔3420的内表面均为一段非闭合的优弧面，机臂20穿过第一定位通孔3220及第二定位通孔3420后，第一定位通孔3220及第二定位通孔3420可单独或者共同对机臂20起到限位与径向定位的作用。
第三步，旋紧第一锁紧件326而将第一压紧块324锁紧固定在第一夹持件322上，使得第一抵持面3244与平面段2424紧密抵触，圆弧段2422与第一定位通孔3220的内表面紧密抵触，从而利用静摩擦力将机臂20整体锁紧在第一夹持件322上。同时，旋紧第二锁紧件346而将第二压紧块344锁紧固定在第二夹持件342上，使得第二抵持面3444与杆体22的外圆周面紧密抵触，杆体22的外圆周面的其他部分则与第二定位通孔3420的内表面紧密抵触，从而进一步利用静摩擦力将机臂20整体锁紧在第二夹持件342上。此时，第一基体3241与两个第二面32214抵触而使第一基体3241相对于第二面32212稍微内收，第二基体3441与两个第二面34214抵触而使第二基体3441相对于第二面34212稍微内收，如此可以减少第一夹持机构32及第二夹持机构34的体积。另外，第一抵持面3244与第一顶面缺口3227的中心轴线垂直，第二抵持面3444与第二定位通孔3420的内表面组成一个完整的圆环。其中，第二抵持面3444可设置成粗糙面以增大与杆体22的外圆周面之间的静摩擦力，提升锁紧力。内套环26在锁紧过程中起到提升机臂20的锁紧强度的作用。而且此时，第一顶面3221与第二顶面3421与顶板12仍保持间隔，如此可以避免无人飞行器100飞行、起降过程中机臂20振动使第一夹持件322与第二夹持件342受到应力产生变形而引起机身10变形。
本发明中的无人飞行器100需要拆卸机臂20时，只需要取出第一锁紧件326及第二锁紧件346即可将机臂20拆卸下来，方便更换及保养。
由于单独使用第一夹持机构32便可将机臂20锁紧在机身10上，在某些实施方式中，无人飞行器的机臂夹持装置30可仅包括第一夹持机构32，此时，相对于上述的无人飞行器100，可以省略掉内套环26以及第二夹持机构34，或者是仅省略掉第二夹持机构34，而将内套环26设置在与第一夹持机构32对应的位置。
在某些实施方式中，无人飞行器的机臂夹持装置30可仅包括第二夹持机构34，此时，相对于上述的无人飞行器100，可以省略掉外套环24以及第一夹持机构34。
在某些实施方式中，无人飞行器的机臂夹持装置30可包括两个第一夹持机构32，对应地，机臂20包括两个外套环24，两个外套环24分别套设在两个第一夹持机构32中。
在某些实施方式中，无人飞行器的机臂夹持装置30可包括两个第二夹持机构34，对应 地，机臂20可不设置外套环24，而包括一个内套环26。则其中一个第二夹持机构34与内套环26对应，另一个夹持机构34直接夹持在杆体22上。
在某些实施方式中，如图14-15所示，第一顶面3221由共面的两个平面部组成，两个平面部分别位于第一顶面缺口3227的两侧，组装后，第一基体3241与两个平面部抵触。
在某些实施方式中，如图16-17所示，第二顶面3421由共面的两个平面部组成，两个平面部分别位于第二顶面缺口3427的两侧，组装后，第二基体3441与两个平面部抵触。
在某些实施方式中，第三侧面3225与第四侧面3226可以是其中之一开设有与第一定位通孔3220相间隔的侧面缺口32250。
在某些实施方式中，侧面缺口32250的侧面与第一底面缺口32222的侧面可以是其中之一为平滑曲面。侧面缺口32250的侧面与第一底面缺口32222的侧面也可以为其他形式的面，例如为多段规则平面、多段不规则的平面、不平滑的曲面中任意之一或多种组合。
在某些实施方式中，侧面缺口34250的侧面与第二底面缺口34222的侧面可以是其中之一为平滑曲面。侧面缺口34250的侧面与第一底面缺口34222的侧面也可以为其他形式的面，例如为多段规则平面、多段不规则的平面、不平滑的曲面中任意之一或多种组合。
在某些实施方式中，第一夹持机构32与第二夹持机构34可以是上述实施方式中的任意组合，在此不再详细展开。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个所述特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (15)

  1. 一种无人飞行器，包括机身以及至少一个机臂，所述机臂包括相对设置的自由端及固定端，其特征在于，所述无人飞行器还包括机臂夹持装置，所述机臂夹持装置包括与所述机身连接的第一夹持机构，所述第一夹持机构包括：
    第一夹持件，包括相背的第一顶面及第一底面、相背的第一侧面及第二侧面，所述第一侧面与所述第二侧面均连接所述第一顶面及所述第一底面，所述第一夹持件开设有贯穿所述第一侧面及所述第二侧面的第一定位通孔，所述第一顶面开设有与所述第一定位通孔连通并将所述第一顶面隔断的第一顶面缺口，所述第一底面开设有与所述第一定位通孔相间隔的第一底面缺口；及
    第一压紧块，包括第一基体及自所述第一基体向外凸起的第一压紧部，所述第一压紧部与所述第一顶面缺口相配合并能够拆卸地装设在所述第一顶面缺口内；
    所述机臂的所述固定端穿设在所述第一定位通孔内并与所述第一压紧部抵持。
  2. 如权利要求1所述的无人飞行器，其特征在于，所述第一夹持件还包括相背的第三侧面及第四侧面，所述第一侧面、所述第三侧面、所述第二侧面及所述第四侧面依次首尾相接并均连接所述第一顶面及所述第一底面，所述第三侧面及/或第四侧面开设有与所述第一定位通孔相间隔的侧面缺口。
  3. 如权利要求1-2任意一项所述的无人飞行器，其特征在于，所述机身包括顶板及与所述顶板间隔相对的底板，所述第一夹持机构安装在所述顶板与所述底板之间，所述第一顶面通过螺钉锁合或/及卡合在所述顶板上，所述第一底面通过螺钉锁合或/及卡合在所述底板上，所述第一顶面与所述顶板间隔。
  4. 如权利要求3所述的无人飞行器，其特征在于，所述机臂包括呈圆柱体形的杆体及套设在所述杆体外圆周面上的外套环，所述外套环的外表面包括圆弧段及封闭所述圆弧段的平面段，所述外套环位于所述第一定位通孔内，所述圆弧段与所述第一定位通孔的内表面抵触，所述第一压紧部与所述平面段抵持。
  5. 如权利要求4所述的无人飞行器，其特征在于，所述外套环开设有贯穿所述外套环的内表面及所述外套环的外表面的点胶孔，所述外套环的内表面在相背两端分别延伸出阻挡环，所述两个阻挡环与所述内表面共同形成一个容胶槽，所述点胶孔与所述容胶 槽连通。
  6. 如权利要求4所述的无人飞行器，其特征在于，所述机臂还包括内嵌在所述杆体中的内套环，所述内套环的外表面与所述杆体的内圆周面抵触，所述内套环位于所述固定端并与所述第一夹持机构的位置对应。
  7. 如权利要求3所述的无人飞行器，其特征在于，所述第一顶面由共面的两个平面部组成，所述两个平面部分别位于所述第一顶面缺口的两侧，所述第一基体与所述两个平面部抵触，或者，所述第一顶面包括两个阶梯部，所述两个阶梯部分别位于所述第一顶面缺口的两侧，每个阶梯部包括一个第一面及相对所述第一面凹陷的第二面，两个阶梯部的第二面共面，所述第一基体与所述两个阶梯部的第二面抵触。
  8. 如权利要求3所述的无人飞行器，其特征在于，所述第一压紧部包括远离所述第一基体的第一抵持面，所述第一抵持面位于所述第一顶面缺口内并朝向所述第一定位通孔，所述第一抵持面为平面；或所述第一抵持面为劣弧面以与所述第一定位通孔的内表面组成一个完整的圆环。
  9. 如权利要求3所述的无人飞行器，其特征在于，所述机臂夹持装置还包括安装在所述顶板与所述底板之间的第二夹持机构，所述第二夹持机构包括：
    第二夹持件，包括相背的第二顶面及第二底面、相背的第五侧面及第六侧面，所述第五侧面与所述第六侧面均连接所述第一顶面及所述第一底面，所述第一夹持件开设有贯穿所述第五侧面及所述第六侧面的第二定位通孔，所述第二顶面开设有与所述第二定位通孔连通并将所述第二顶面隔断的第二顶面缺口，所述第二底面开设有与所述第二定位通孔相间隔的第二底面缺口；及
    第二压紧块，包括第二基体及自所述第二基体向外凸起的第二压紧部，所述第二压紧部与所述第二顶面缺口相配合并能够拆卸地装设在所述第二顶面缺口内；
    所述机臂的所述固定端穿设在所述第二定位通孔内并与所述二压紧部抵持。
  10. 如权利要求9所述的无人飞行器，其特征在于，所述第二顶面通过螺钉锁合或/及卡合在所述顶板上，所述第二底面通过螺钉锁合或/及卡合在所述底板上，所述第二顶面与所述顶板间隔。
  11. 如权利要求9所述的无人飞行器，其特征在于，所述第二夹持件还包括相背的第七侧面及第八侧面，第五侧面、第七侧面、第六侧面及第八侧面依次首尾相接并均连接所述第二顶面及所述第二底面，所述第七侧面及/或第八侧面开设有与所述第二定位通孔相间隔的侧面缺口。
  12. 如权利要求11所述的无人飞行器，其特征在于，所述机臂包括呈圆柱体形的杆体及套设在所述杆体外圆周面上的外套环，所述外套环的外表面包括圆弧段及封闭所述圆弧段的平面段，所述外套环位于所述第二定位通孔内，所述圆弧段与所述第一定位通孔的内表面抵触，所述第一压紧部与所述平面段抵持，所述外套环开设有贯穿所述外套环的内表面及所述外套环的外表面的点胶孔。
  13. 如权利要求12所述的无人飞行器，其特征在于，所述外套环的内表面在相背两端分别延伸出阻挡环，所述两个阻挡环与所述内表面共同形成一个容胶槽，所述点胶孔与所述容胶槽连通。
  14. 如权利要求12所述的无人飞行器，其特征在于，所述机臂还包括内嵌在所述杆体中的内套环，所述内套环的外表面与所述杆体的内圆周面抵触，所述内套环位于所述固定端并与所述第二夹持机构的位置对应。
  15. 如权利要求11所述的无人飞行器，其特征在于，所述第二顶面由共面的两个平面部组成，所述两个平面部分别位于所述第二顶面缺口的两侧，所述第二基体与所述两个平面部抵触，或者，所述第二顶面包括两个阶梯部，所述两个阶梯部分别位于所述第二顶面缺口的两侧，每个阶梯部包括一个第二面及相对所述第二面凹陷的第二面，两个阶梯部的第二面共面，所述第二基体与所述两个阶梯部的第二面抵触。
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