WO2018076456A1 - 无人机 - Google Patents

无人机 Download PDF

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Publication number
WO2018076456A1
WO2018076456A1 PCT/CN2016/108265 CN2016108265W WO2018076456A1 WO 2018076456 A1 WO2018076456 A1 WO 2018076456A1 CN 2016108265 W CN2016108265 W CN 2016108265W WO 2018076456 A1 WO2018076456 A1 WO 2018076456A1
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WO
WIPO (PCT)
Prior art keywords
arm
fuselage
drone
battery
pan
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PCT/CN2016/108265
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English (en)
French (fr)
Inventor
欧迪
彭涛
郭晓凯
李红山
孙亮
Original Assignee
深圳市大疆创新科技有限公司
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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
Publication of WO2018076456A1 publication Critical patent/WO2018076456A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • 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

Definitions

  • the present invention relates to the field of drone technology, and in particular, to a drone equipped with a pan/tilt camera.
  • a drone equipped with a pan/tilt camera has a problem of center-premise due to the large quality of the camera.
  • the quality and size of the pan/tilt camera are increasing, and the drone using a large size and weight pan/tilt camera is a trend.
  • this has brought the problem of a higher priority.
  • the PTZ camera front is a common solution.
  • the problem with the front camera of the PTZ camera is that the center of gravity of the drone is more advanced, and the drone's good maneuverability cannot be guaranteed.
  • the power center of the drone is at the intersection of the propeller motor.
  • the drone has better balance and maneuverability. Therefore, how to ensure the position of the center of gravity of the drone, or how to ensure that the drone power center and the center of gravity close to coincide or coincide, is a common problem in the industry.
  • the invention provides a drone.
  • the drone of the present invention is implemented by the following technical solutions:
  • the present invention provides a drone, including a body, a battery disposed on the body, and connected to the a main body arm on both sides of the fuselage, a propeller assembly, and a pan/tilt head connected to the front end of the fuselage, the pan/tilt head is used to mount a pan/tilt camera; the battery is disposed at a tail end of the fuselage; A chute is provided for mounting the battery, the chute being provided with an opening facing the rear of the fuselage; the battery is mounted from the rear of the fuselage to the chute from the rear to the front.
  • the chute includes two, respectively disposed on two sides of the tail end of the fuselage; correspondingly, the battery also includes two, respectively disposed in the chutes on both sides of the fuselage.
  • a guide groove is disposed in the sliding slot, and the battery is provided with a guiding protrusion that cooperates with the guiding slot.
  • a buckle that cooperates with the guiding protrusion is further disposed in the guiding slot.
  • the battery further includes at least one holding portion for fixing with the sliding slot.
  • the propeller assembly includes two groups, two sets of propeller assemblies are symmetrically disposed on two sides of the fuselage, and each set includes two propeller modules; wherein each propeller module includes a motor and a blade;
  • the human machine further includes two main body arms and two connecting arms, two of which are respectively connected to two sides of the fuselage, and can be lifted up or folded upwards or folded downwards with respect to the body, each The connecting arms are connected to a main arm; the connecting arms include a forearm and a rear arm, and two of the propeller modules in each of the sets are respectively disposed at free ends of the forearm and the rear arm.
  • the length of the forearm is greater than the length of the rear arm.
  • the forearm and the rear arm are independently disposed, respectively mounted to the main arm, or the forearm and the rear arm are integrally formed.
  • the drone further includes a second arm connected to the connecting arm and the fuselage disposed on one side of the host arm for providing support for the connecting arm and the propeller assembly.
  • the sweep angle between the main arm and the fuselage ranges from 30° to 60° such that the center of gravity of the drone is coincident or coincident with the power center.
  • main body arm is hinged to the body and rotates up and down with respect to the body.
  • the drone is provided with an elevation angle of the host arm to reduce the blade view of the pan/tilt camera
  • the main arm includes a lifting angle limiting surface, and when the main arm is rotated upward to the lifting angle, the lifting angle limiting surface is in abutment with the fuselage and is limited.
  • the lifting angle ranges from 45° to 120°.
  • the drone includes a tripod; the drone is provided with a main arm lower angle to reduce the influence of the tripod on the pan/tilt camera angle; the main arm includes a lower corner limiting surface, The airframe includes a lower corner limiting portion. When the main arm is rotated downward to the lower corner, the lower corner limiting surface and the lower corner limiting portion are resisted and limited.
  • the undercut angle ranges from 30° to 60°.
  • the drone further includes a hinge connected between the host arm and the body; the hinge portion includes a first shaft hinged with the main body arm and a second hinged to the body axis.
  • a lower portion of the front end of the fuselage is connected with a pan/tilt fixing plate, and the pan/tilt is mounted on the pan/tilt fixing plate.
  • the drone of the present invention overcomes the defects of the center of gravity in the prior art by moving the battery back on the fuselage.
  • the drone of the present invention further adjusts the position of the center of gravity and adjusts the relative position of the power center and the center of gravity by adjusting the sweep angle between the main arm and the body, adjusting the front and rear ratio of the connecting arm of the propeller assembly, and the like. Position, in order to achieve close to coincidence or coincidence effect.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle of the present invention in an embodiment
  • Figure 2 is a perspective view of another angle of Figure 1;
  • Figure 3 is a perspective view of still another angle of Figure 1;
  • Figure 4 is a top plan view of Figure 1;
  • Figure 5 is a schematic view of the drone of the present invention in a state in which the main arm is lowered;
  • Figure 6 is a schematic view of the drone of the present invention in a state in which the main arm is raised in an embodiment.
  • a drone 100 includes a body 1, a battery 2 disposed on the body 1, a host arm 3 connected to both sides of the body 1, and a propeller assembly 4. And a pan/tilt 5 connected to the front end of the body 1, which is used to mount the pan/tilt camera 9.
  • the battery 2 is disposed at a tail end of the body 1; the tail end of the body 1 is provided with a sliding slot 10 for mounting the battery 2, and the sliding slot 10 is provided with an opening facing the rear of the body 1 (not labeled ).
  • the battery 2 is mounted from the rear of the body 1 to the chute 10 from the rear to the front.
  • the chute 10 includes two, respectively disposed on two sides of the tail end of the fuselage 1; correspondingly, the battery 2 also includes two chutes respectively disposed on two sides of the fuselage 1 Within 10.
  • the drone 100 of the present invention overcomes the drawback that the center of gravity of the camera 1 is moved forward due to the placement of the head camera 9 at the front end of the body 1 by moving the battery 2 back to the rear end of the body 1. Further, the chute 10 is provided with an opening facing the rear of the body 1, and the battery 2 can be installed into the chute 10 from the rear to the front, so that the battery 2 can be disposed on the body 1 as much as possible.
  • the tail end is easy to install and beautiful in appearance.
  • the drone 100 of the present invention adjusts the main structure of the drone in order to achieve the purpose of adjusting the center of gravity.
  • the sliding slot 10 is provided with a guiding slot 11
  • the battery 2 is provided with a guiding protrusion 22 that cooperates with the guiding slot 11
  • the guiding slot 11 is further provided with the guiding protrusion 22 Buckle 12.
  • the battery 2 further includes at least one holding portion 21 for holding and fixing with the sliding slot 10.
  • the holding portion 21 may be disposed at a side edge of the upper portion of the battery 2, and/or at a side edge of the front end of the battery 2.
  • the drone 100 further includes two main arm 3 and two connecting arms 6.
  • Two of the mainframe arms 3 are respectively connected to two sides of the fuselage 1 and can be lifted up or folded or folded downward relative to the fuselage 1 , that is, two of the mainframe arms 3 can be opposite The body 1 is rotated up and down.
  • Each of the connecting arms 6 is connected to a main arm 3.
  • the connecting arm 6 includes a front arm 61 and a rear arm 62.
  • the length of the forearm 61 is greater than the length of the rear arm 62.
  • the center of gravity and the power center of the invention drone 100 are adjusted to some extent, thereby enabling the The power center of the drone 100 closely coincides or coincides with the center of gravity.
  • the forearm 61 and the rear arm 62 are integrally formed.
  • the forearm 61 and the rear arm 62 are independently disposed and mounted to the main arm 1 respectively.
  • the drone 100 of the present invention further includes a second arm 31 connected to the connecting arm 6 and the body 1 on one side of the main arm 3, the second arm 31 for feeding the connecting arm 6 and the propeller Assembly 4 provides support.
  • the propeller assembly 4 includes two sets, two sets of propeller assemblies 4 disposed symmetrically on either side of the fuselage 1, and each set including two propeller modules.
  • Each of the propeller modules includes a motor 41 and a paddle 42 (refer to FIGS. 2 and 3).
  • two propeller modules in each group are disposed at the free ends of the forearm 61 and the rear arm 62, respectively.
  • the drone 100 of the present invention also includes a stand 7.
  • the legs 7 are four, respectively disposed at the free ends of the connecting arms 6 and below the propeller modules of the propeller assembly 4.
  • the sweep angle A between the main arm 3 and the body 1 ranges from 30° to 60°, so that the center of gravity and the power center of the invention drone 100 are adjusted to some extent. Further making the said The center of gravity B of the drone 100 coincides or coincides with the power center C.
  • the main body arm 3 is hinged to the body 1 and rotated up and down with respect to the body 1.
  • the drone 100 is provided with an elevation angle of the main body arm 3 to reduce the influence of the blade 42 on the viewing angle of the pan/tilt camera 9; the main arm 3 includes an upper lifting angle limiting surface. 32.
  • the lifting angle limiting surface 32 is in abutment with the body 1 to be limited.
  • the lifting angle B ranges from 45° to 120°.
  • the drone 100 is provided with a host arm lowering angle to reduce the influence of the stand 7 on the viewing angle of the pan/tilt camera 9;
  • the main arm 3 includes a lower corner limiting surface 33,
  • the fuselage 1 includes a lower corner limiting portion 12, and when the main arm 3 is rotated downward to the lower corner (ie, the lowered state), the lower corner limiting surface 33 and the lower corner limiting portion 12 resistance and limit.
  • the undercut angle ranges from 30° to 60°.
  • the drone 100 of the present invention further includes a hinge portion 34 coupled between the main body arm 3 and the body 1; the hinge portion 34 includes a first shaft 35 hinged to the main body arm 3 and the body 1 articulated second shaft 36.
  • the second shaft 36 By the arrangement of the second shaft 36, the up and down rotation of the main arm 3 during flight is more reliable and stable.
  • a pan/tilt fixing plate 8 is connected to a lower portion of the front end of the body 1.
  • the pan/tilt head 5 is mounted to the pan-tilt fixed plate 8.
  • the pan/tilt camera 9 allows the pan-tilt camera 9 to have a better viewing angle, and reduces the influence of the drone 100 itself on the viewing angle.

Abstract

一种无人机(100)，包括机身(1)、设置于所述机身(1)上的电池(2)、连接于所述机身(1)两侧的主机臂(3)、螺旋桨组件(4)以及连接于机身(1)前端的云台(5)，所述云台(5)用于安装云台相机(9)；所述电池(2)设置在所述机身(1)的尾端；所述机身(1)尾端设有安装所述电池(2)的滑槽(10)，该滑槽(10)设有朝向机身(1)后方的开口；所述电池(2)从机身(1)的后方，由后向前安装到所述滑槽(10)内。该无人机(100)通过将电池(2)在所述机身(1)上后移来克服现有技术中重心前置的缺陷。

Description

无人机 技术领域
技术领域本发明涉及无人机技术领域，尤其涉及一种安装有云台相机的无人机。
背景技术
现有技术中，安装有云台相机的无人机，由于相机的质量较大，而会发生中心偏前的问题。特别地，随着拍摄要求越来越专业，所述云台相机的质量和尺寸都在增大，无人机使用大尺寸和重量云台相机是一种趋势。然而，这更加带来了重心偏前的问题。
而且，为了具有更好的相机视角，所述云台相机前置是一种常见的解决方案。而云台相机前置所带来的问题是，导致所述无人机的重心更加偏前，而无法保证无人机良好的机动性。
一般来说，无人机的动力中心在螺旋桨电机的连线交叉点上，当动力中心和重心重合或接近重合时，使得无人机具有更好的平衡性和机动性。因此，如何保证无人机重心的位置，或者如何保证无人机动力中心与重心接近重合或重合，是业界普遍探索的问题。
发明内容
本发明提供一种无人机。
具体地，本发明无人机是通过如下技术方案实现的：
本发明提供一种无人机，包括机身、设置于所述机身上的电池、连接于所述 机身两侧的主机臂、螺旋桨组件以及连接于机身前端的云台，所述云台用于安装云台相机；所述电池设置在所述机身的尾端；所述机身尾端设有安装所述电池的滑槽，该滑槽设有朝向机身后方的开口；所述电池从机身的后方，由后向前安装到所述滑槽内。
进一步地，所述滑槽包括两个，分别设置在所述机身尾端的两侧；相应地，所述电池也包括两个，分别设置于所述机身两侧的滑槽内。
进一步地，所述滑槽内设有导引槽，而所述电池上设有与该导引槽配合的导引凸块。
进一步地，所述导引槽内还设有与所述导引凸块配合的卡扣。
进一步地，所述电池还包括至少一个卡持部，用于与所述滑槽固定。
进一步地，所述螺旋桨组件包括两组，两组螺旋桨组件对称设置于所述机身的两侧，且每组包括两个螺旋桨模块；其中，每一螺旋桨模块包括电机及桨叶；所述无人机还包括两个主机臂和两个连接臂，两个所述主机臂分别连接于所述机身的两侧，且可相对所述机身向上抬起或折叠、或向下折叠，每个所述连接臂对应一个主机臂连接；所述连接臂包括前臂和后臂，所述每组中的两个螺旋桨模块分别设置在前臂和后臂的自由端部。
进一步地，所述前臂的长度大于后臂的长度。
进一步地，所述前臂和后臂独立设置，分别安装到所述主机臂上，或者所述前臂和后臂一体成型。
进一步地，所述无人机还包括设置在所述主机臂一侧的连接所述连接臂与机身的第二臂，用于给所述连接臂及螺旋桨组件提供支撑。
进一步地，所述主机臂与机身之间的后掠角的范围为30°-60°，以使得所述无人机的重心与动力中心接近重合或重合。
进一步地，所述主机臂铰接到所述机身上，并相对所述机身上、下转动。
进一步地，所述无人机设有主机臂的上抬角，以减少所述桨叶对云台相机视 角的影响；所述主机臂包括上抬角限位面，当所述主机臂向上转动到所述上抬角时，所述上抬角限位面与所述机身抵持而限位。
进一步地，所述上抬角的范围为45°-120°。
进一步地，所述无人机包括脚架；所述无人机设有主机臂下置角，以减少脚架对云台相机视角的影响；所述主机臂包括下置角限位面，所述机身包括下置角限位部，当所述主机臂向下转动到所述下置角时，所述下置角限位面与下置角限位部抵持而限位。
进一步地，所述下置角的范围为30°-60°。
进一步地，所述无人机还包括连接在所述主机臂和机身之间的铰接部；所述铰接部包括与所述主机臂铰接的第一轴和与所述机身铰接的第二轴。
进一步地，所述机身前端的下部连接设有云台固定板，所述云台安装在该云台固定板上。
由以上本发明无人机实施例提供的技术方案可见，本发明无人机通过将电池在所述机身上后移，来克服现有技术中重心前置的缺陷。
进一步地，本发明无人机通过调整所述主机臂与机身之间的后掠角、调整螺旋桨组件的连接臂前后配比等结构，来进一步调整重心位置，以及调整动力中心与重心的相对位置，以期达到接近重合或重合的效果。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。
图1是本发明无人机在一实施例中的立体示意图；
图2是图1另一角度的立体示意图；
图3是图1又一角度的立体示意图；
图4是图1的俯视示意图；
图5是本发明无人机在一实施例中的主机臂放下状态时的示意图；
图6是本发明无人机在一实施例中的主机臂抬起状态时的示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
另外，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。
如图1至图3所示，一种无人机100，包括机身1、设置于所述机身1上的电池2、连接于所述机身1两侧的主机臂3、螺旋桨组件4以及连接于机身1前端的云台5，所述云台5用于安装云台相机9。
所述电池2设置在所述机身1的尾端；所述机身1尾端设有安装所述电池2的滑槽10，该滑槽10设有朝向机身1后方的开口(未标号)。所述电池2从机身1的后方，由后向前安装到所述滑槽10内。
进一步地，所述滑槽10包括两个，分别设置在所述机身1尾端的两侧；相应地，所述电池2也包括两个，分别设置于所述机身1两侧的滑槽10内。
本发明无人机100通过将电池2后移至机身1的尾端，而克服了因为所述云台相机9设置在机身1前端而带来的重心前移的缺陷。进一步地，所述滑槽10设有朝向机身1后方的开口，电池2可以由后向前安装到所述滑槽10内，从而使得所述电池2可以尽可能的设置在机身1的尾端，且安装方便、外形美观。
诚然，除了云台相机9的位置和电池2的位置外，云台相机9的重量、主机臂3的后掠角以及电池2的重量等都会对重心的位置产生影响。本发明无人机100通过对无人机主要结构进行调整，以期达到调整重心之目的。
更进一步地，所述滑槽10内设有导引槽11，而所述电池2上设有与该导引槽11配合的导引凸块22。其中所述导引槽11内还设有与所述导引凸块22配合 的卡扣12。
进一步地，所述电池2还包括至少一个卡持部21，用于与所述滑槽10卡持固定。所述卡持部21可设置于所述电池2的上部的侧边沿，和/或设置在所述电池2前端的侧边沿。
所述无人机100还包括两个主机臂3和两个连接臂6。两个所述主机臂3分别连接于所述机身1的两侧，且可相对所述机身1向上抬起或折叠、或向下折叠，也即，两个所述主机臂3可相对所述机身1上、下转动。每个所述连接臂6对应一个主机臂3连接。所述连接臂6包括前臂61和后臂62。
在另一实施方式中，所述前臂61的长度大于后臂62的长度。
在满足各种运动均不干涉桨叶情况下，通过加长所述前臂61以及缩短所述后臂62，以使得发明无人机100的重心与动力中心都得到一定程度的调整，进而使得所述无人机100的动力中心与重心接近重合或重合。
可选地，所述前臂61和后臂62一体成型。
可选地，所述前臂61和后臂62独立设置，分别安装到所述主机臂1上。
本发明无人机100还包括设置在所述主机臂3一侧的连接所述连接臂6与机身1的第二臂31，所述第二臂31用于给所述连接臂6及螺旋桨组件4提供支撑。
继续参考图1所示，所述螺旋桨组件4包括两组，两组螺旋桨组件4对称设置于机身1的两侧，且每组包括两个螺旋桨模块。其中，每一螺旋桨模块包括电机41及桨叶42(参照图2及图3所示)。本实施例中，每组中的两个螺旋桨模块分别设置在前臂61和后臂62的自由端部。
本发明无人机100还包括脚架7。在发明一实施方式中，所述脚架7为四个，分别设置在所述连接臂6的自由端部，且位于所述螺旋桨组件4的螺旋桨模块的下方。
结合图4所示，所述主机臂3与机身1之间的后掠角A的范围为30°-60°，以使得发明无人机100的重心与动力中心都得到一定程度的调整，进而使得所述 无人机100的重心B与动力中心C接近重合或重合。
参考图3所示，进一步地，所述主机臂3铰接到所述机身1上，并相对所述机身1上、下转动。
结合图5所示，所述无人机100设有主机臂3的上抬角，以减少所述桨叶42对云台相机9视角的影响；所述主机臂3包括上抬角限位面32，当所述主机臂3向上转动到所述上抬角(即上抬状态)时，所述上抬角限位面32与所述机身1抵持而限位。
在一实施方式中，所述上抬角B的范围为45°-120°。
通过这样设置，保证本发明无人机100在起飞状态下，其动力中心与重心的偏差在一定的范围内，而保证了无人机100的平衡性和机动性。
结合图6所示，所述无人机100设有主机臂下置角，以减少脚架7对云台相机9视角的影响；所述主机臂3包括下置角限位面33，所述机身1包括下置角限位部12，当所述主机臂3向下转动到所述下置角(即下降状态)时，所述下置角限位面33与下置角限位部12抵持而限位。
在一实施方式中，所述下置角的范围为30°-60°。
通过这样设置，保证本发明无人机100在下降状态下，其动力中心与重心的偏差在一定的范围内，而保证了无人机100的平衡性和机动性。
本发明无人机100还包括连接在所述主机臂3和机身1之间的铰接部34；所述铰接部34包括与所述主机臂3铰接的第一轴35和与所述机身1铰接的第二轴36。通过该第二轴36设置，使得主机臂3在飞行过程中的上下转动更加可靠，且稳定。
所述机身1前端的下部连接设有云台固定板8。所述云台5安装到该云台固定板8上。通过该云台固定板8使得云台相机9具有更好的拍摄视角，而减少无人机100自身对拍摄视角的影响。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明 的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明保护的范围之内。

Claims (17)

  1. 一种无人机，包括机身、设置于所述机身上的电池、连接于所述机身两侧的主机臂、螺旋桨组件以及连接于机身前端的云台，所述云台用于安装云台相机；其特征在于：所述电池设置在所述机身的尾端；所述机身尾端设有安装所述电池的滑槽，该滑槽设有朝向机身后方的开口；所述电池从机身的后方，由后向前安装到所述滑槽内。
  2. 如权利要求1所述的无人机，其特征在于：所述滑槽包括两个，分别设置在所述机身尾端的两侧；相应地，所述电池也包括两个，分别设置于所述机身两侧的滑槽内。
  3. 如权利要求2所述的无人机，其特征在于：所述滑槽内设有导引槽，而所述电池上设有与该导引槽配合的导引凸块。
  4. 如权利要求3所述的无人机，其特征在于：所述导引槽内还设有与所述导引凸块配合的卡扣。
  5. 如权利要求4所述的无人机，其特征在于：所述电池还包括至少一个卡持部，用于与所述滑槽固定。
  6. 如权利要求1所述的无人机，其特征在于：所述螺旋桨组件包括两组，两组螺旋桨组件对称设置于所述机身的两侧，且每组包括两个螺旋桨模块；其中，每一螺旋桨模块包括电机及桨叶；所述无人机还包括两个主机臂和两个连接臂，两个所述主机臂分别连接于所述机身的两侧，且可相对所述机身向上抬起或折叠、或向下折叠，每个所述连接臂对应一个主机臂连接；所述连接臂包括前臂和后臂，所述每组中的两个螺旋桨模块分别设置在前臂和后臂的自由端部。
  7. 如权利要求6所述的无人机，其特征在于：所述前臂的长度大于后臂的长度。
  8. 如权利要求6所述的无人机，其特征在于：所述前臂和后臂独立设置， 分别安装到所述主机臂上，或者所述前臂和后臂一体成型。
  9. 如权利要求6所述的无人机，其特征在于：所述无人机还包括设置在所述主机臂一侧的连接所述连接臂与机身的第二臂，用于给所述连接臂及螺旋桨组件提供支撑。
  10. 如权利要求6所述的无人机，其特征在于：所述主机臂与机身之间的后掠角的范围为30°-60°，以使得所述无人机的重心与动力中心接近重合或重合。
  11. 如权利要求6所述的无人机，其特征在于：所述主机臂铰接到所述机身上，并相对所述机身上、下转动。
  12. 如权利要求10所述的无人机，其特征在于：所述无人机设有主机臂的上抬角，以减少所述桨叶对云台相机视角的影响；所述主机臂包括上抬角限位面，当所述主机臂向上转动到所述上抬角时，所述上抬角限位面与所述机身抵持而限位。
  13. 如权利要求12所述的无人机，其特征在于：所述上抬角的范围为45°-120°。
  14. 如权利要求12所述的无人机，其特征在于：所述无人机包括脚架；所述无人机设有主机臂下置角，以减少脚架对云台相机视角的影响；所述主机臂包括下置角限位面，所述机身包括下置角限位部，当所述主机臂向下转动到所述下置角时，所述下置角限位面与下置角限位部抵持而限位。
  15. 如权利要求14所述的无人机，其特征在于：所述下置角的范围为30°-60°。
  16. 如权利要求1所述的无人机，其特征在于：所述无人机还包括连接在所述主机臂和机身之间的铰接部；所述铰接部包括与所述主机臂铰接的第一轴和与所述机身铰接的第二轴。
  17. 如权利要求1所述的无人机，其特征在于：所述机身前端的下部连接 设有云台固定板，所述云台安装在该云台固定板上。
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