WO2018076470A1 - 无人飞行器 - Google Patents

无人飞行器 Download PDF

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Publication number
WO2018076470A1
WO2018076470A1 PCT/CN2016/109014 CN2016109014W WO2018076470A1 WO 2018076470 A1 WO2018076470 A1 WO 2018076470A1 CN 2016109014 W CN2016109014 W CN 2016109014W WO 2018076470 A1 WO2018076470 A1 WO 2018076470A1
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WO
WIPO (PCT)
Prior art keywords
arm
engaging
connecting portion
recess
coupled
Prior art date
Application number
PCT/CN2016/109014
Other languages
English (en)
French (fr)
Inventor
耶方明
杨钊
欧迪
李红山
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 CN201680085732.2A priority Critical patent/CN109153439B/zh
Publication of WO2018076470A1 publication Critical patent/WO2018076470A1/zh

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    • 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
    • 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
    • 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

Definitions

  • the present invention relates to the field of aircraft, and more particularly to an unmanned aerial vehicle.
  • unmanned aerial vehicles have been widely used in aerial photography, surveillance, exploration, rescue, agricultural plant protection and other fields.
  • the unmanned aerial vehicle not only needs to realize the multi-function at work, but how to conveniently and quickly store and transport it when it is not working has become an urgent problem to be solved.
  • An unmanned aerial vehicle includes a fuselage and an arm coupled to the fuselage and a connecting assembly.
  • the arm is detachably connectable to the body.
  • the connection assembly includes a first connection portion and a second connection portion rotatably coupled to one of the body and the arm.
  • the second connecting portion is connected to the other of the first segment and the second segment, and the first connecting portion is rotatable relative to the arm and is engaged with the second connecting portion Or disengaged to lock the fuselage and the arm or unlock the fuselage and the arm.
  • first connecting portion includes a first engaging member
  • second connecting portion includes a second engaging member
  • first connecting portion and the second connecting portion pass the first engaging member
  • the second engaging members are engaged with each other and are engaged with each other.
  • the first engaging member includes a rotating portion and a first engaging portion, the rotating portion is rotatable relative to the arm, and the first engaging portion is rotatably disposed on the rotating portion and The second engaging member can be engaged.
  • the first engaging portion includes an engaging end and a connecting end opposite to the engaging end, and the engaging end can be engaged with the second engaging member, and the connecting end can be Rotatingly coupled to the rotating portion, the engaging end is swingable with the rotation of the first engaging portion.
  • the rotating portion includes two clamping arms and an operating portion connected to the clamping arms, and two clamping arms are formed with a card slot, and the two clamping arms are configured An engaging portion is rotatably held therebetween, and the operating portion is operable to rotate the rotating portion relative to the arm.
  • the first connecting portion includes a first connecting member rotatably coupled to the first connecting member and connected to the body through the first connecting member.
  • an end surface of the first connecting member forms a plug recess
  • the second connecting portion is formed with a plug protrusion corresponding to the plug recess; or the end surface of the first connector is inserted a protruding portion, the second connecting portion is formed with a plugging recess corresponding to the plugging protrusion, the plugging protrusion being capable of being inserted into the plugging recess, such that the first connecting portion and the first connecting portion
  • the second connecting portions are coupled to each other.
  • the insertion convex portion is a non-circular convex portion
  • the insertion concave portion is a non-circular concave portion adapted to the insertion convex portion, and the insertion convex portion cooperates with the insertion concave portion
  • the relative rotation between the first connecting portion and the second connecting portion can be restricted later.
  • the first connecting member is formed with a supporting protrusion
  • the supporting protrusion is rotatably coupled to the first engaging member and can support the first engaging member.
  • the second engaging member includes an engaging recess, and the engaging recess is engageable with the engaging end to lock the body and the arm.
  • the second engaging portion further includes a stopping portion and a guiding portion, and the stopping portion can resist the engaging end when the engaging end is engaged in the card and the recess
  • the guiding section includes a guiding surface for guiding the stroke of the engaging end, so that the engaging end can be engaged in the engaging recess.
  • the second connecting portion includes a second connecting member, the second connecting member is fixedly connected to the arm, and the second engaging member is disposed on the second connecting member and passes through the A second connector is coupled to the arm.
  • the UAV further includes a joint rotatably coupled to the body, the arm being rotatably coupled to the body by the connecting assembly and the joint, and The body can be disassembled.
  • the joint includes a shaft joint and a socket connected to the shaft joint, and the shaft joint is rotatably connected to the body, and the sleeve portion can be sleeved with the arm.
  • the shaft joint has a substantially cylindrical shape, and has a partial cylindrical side surface and a first limiting surface and a second limiting surface respectively connected to the two sides of the side surface, the side surface being connected to the The first limiting surface and the second limiting surface are connected to each other at a predetermined angle.
  • the first limiting surface or The second limiting surface is capable of contacting the body to define a rotational angle of the shaft portion relative to the body.
  • the UAV adopts the connecting component to realize quick locking and unlocking of the arm and the fuselage, so that the arm of the UAV can be disassembled and folded, which facilitates the storage of the unmanned flight. Carry and transport.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Fig. 2 is a perspective view showing another state of the unmanned aerial vehicle of Fig. 1.
  • FIG. 3 is an enlarged view of a portion III of the unmanned aerial vehicle of FIG. 2.
  • FIG. 4 is a perspective view of a portion of the structure of the UAV of FIG. 1 showing the main arm, the joint, and the connecting assembly.
  • 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.
  • an unmanned aerial vehicle 100 of an embodiment of the present invention includes a fuselage 10 , an arm 20 , a connection assembly 30 , and a power assembly 40 .
  • the UAV 100 is a quadrotor unmanned aerial vehicle, and thus the power assembly 40 is a rotor assembly and the number is four, and the four movements
  • the force assembly 40 is distributed within a rectangular region around the fuselage 10 by the support of the arm 20, and each of the power assemblies 40 is located at one vertex of the rectangle.
  • the adjacent power components 40 have different rotational directions during operation, and the opposite rotational directions of the power components 40 are the same.
  • the number of the power components 40 can be appropriately changed according to different requirements.
  • the number of the power components 40 can be two, three, six, eight, sixteen, etc., even The number of the power components 40 may be only one. Accordingly, the number of the arms 20 may also be appropriately set according to the number of the power components 40.
  • the airframe 10 is a carrier of the unmanned aerial vehicle 100, and an electrical installation portion may be disposed on or in the body 10.
  • the electrical installation portion may mount and carry a sensor, a circuit board, a processor, and a communication module. And electronic components such as batteries.
  • the body 10 is a frame which is overlapped by a bracket and located at a middle portion of the UAV 100, and the arm 20 is rotatably coupled to a side portion of the body 10.
  • the outer casing 10 may also be provided with a casing capable of protecting electronic components disposed on or in the body 10.
  • the outer casing is preferably shaped to reduce air resistance during flight, for example, the outer casing may be streamlined, circular, elliptical or the like.
  • the fuselage 10 can also be loaded with other loads capable of achieving a specific task.
  • the body 10 can Carrying a photographing device equipped with an enhanced pan/tilt; when the unmanned aerial vehicle 100 is used to spray a pesticide, the body 10 can be equipped with a medicine box and a spraying device; when the unmanned aerial vehicle 100 is used in a competitive game, the The body 10 can be equipped with a game device or the like.
  • the arm 20 is used to support the power assembly 40 and distribute the power assembly 40 around the fuselage 10 in a predetermined pattern.
  • the arm 20 is rotatably coupled to a side of the body 10, and thus the arm 20 can be adjusted in different positions and states with respect to the body 10. For example, when landing, the arm 20 rotates downward relative to the fuselage 10 to provide support for the UAV 100; during flight, the arm 20 is upward relative to the fuselage 10 Rotating to avoid the arm 20 from occluding the load on the fuselage 10.
  • the arm 20 and the body 10 are rotatably connected by a joint 11 , one end of the joint 11 is rotatably connected to the body 10 , and the other end is connected to the body through the connecting component 30 .
  • the arms 20 are connected.
  • the joint 11 includes a shaft portion 111 and a socket portion 112 connected to the shaft portion 111.
  • the shaft portion 111 is rotatably coupled to the body 10, and the socket portion 112 can be coupled with
  • the arm 20 is sleeved.
  • the shaft portion 111 is substantially in the shape of a fan-shaped column, and has a partial cylindrical side surface 1111 and a first limiting surface 1112 and a second limiting surface 1113 respectively connected to the two sides of the side surface 1111.
  • the plane 1112 and the second limiting surface 1113 are connected to each other at a predetermined angle.
  • the side surface 1111 is connected to the shaft connecting portion 111, and the connecting position of the first limiting surface 1112 and the second limiting surface 1113 of the shaft connecting portion 111 is rotatably connected to the air body. 10.
  • the first limiting surface 1112 and the second limiting surface 1113 are planes. When the shaft connecting portion 111 is rotated by a predetermined angle with respect to the body 10, the first limiting surface 1112 or the The second limiting surface 1113 can be in contact with the body 10 to define a rotation angle of the shaft portion 111 relative to the body 10. It can be understood that the first limiting surface is different according to specific needs.
  • the connection angle of the 1112 and the second limiting surface 1113 can be any suitable change, and will not be described in detail.
  • the socket portion 112 has a substantially hollow column shape, and one end thereof facing away from the shaft connecting portion 111 is provided with a mounting hole (not shown), and the mounting hole can mount the connecting component 30.
  • the arm 20 includes a main arm 21 and an arm 22 coupled to the main arm 21.
  • One end of the main arm 21 is rotatably coupled to the body 10, and the other end is coupled to the arm 22.
  • the main arm 21 and the arm 22 are substantially connected in a "T" shape.
  • the relative angle is adjusted between the main arm 21 and the body 10 by using a screw rod and a nut.
  • the screw rod and the nut are matched in such a manner that the arm 22 is opposite to the body 22
  • the fuselage 10 can stay at any angle to facilitate adjusting the shape of the UAV 100 according to different needs.
  • the number of the main arms 21 is two, and the two main arms 21 are respectively connected to opposite sides of the body 10, and each of the main arms 21 connects two of the branches.
  • the arms 22 and the two arms 22 are coaxially disposed on opposite sides of the main arm 21, respectively.
  • the arms 22 on either side of each of the main arms 21 can be integrally connected, and the arms 22 are represented as an integral elongated arm.
  • the number of the main arms 21 and their corresponding arms 22 may also vary according to specific needs.
  • the number of the main arms 21 may be three, four or more.
  • the main arm 21 adopts a parallel link structure including a main link 211 and a sub-link 212 substantially parallel to the main link 211.
  • One end of the main link 211 is detachably coupled to the joint 11 and the other end is coupled to the arm 22; two ends of the sub-link 212 are rotatably coupled to the body 10, respectively.
  • the arm 22 is.
  • the main arm 21 adopts the structure of the main link 211 and the auxiliary link 212, which can enhance the strength of the support and ensure the stability and service life of the main arm 21.
  • the secondary link 212 may be omitted and only the structure of the primary link 211 is retained.
  • main arm 21 is not limited to the above structure, and any structure rotatably coupled to the body 10 can be applied to the UAV 100, which is not limited in the specification.
  • the arm 22 is a substantially cylindrical elongated rod. A substantially central position of the arm 22 connects the main arm 21, and the arm 22 is substantially perpendicular to the main arm 21. Both ends of the arm 22 are respectively formed with mounting portions 221 for mounting the power assembly 40.
  • connection manner between the arm 22 and the main arm 21 is not limited to the illustrated embodiment.
  • the arm 22 may not be perpendicular to the main arm 21, and the arm 22 may be The end is connected to the main arm 21 or the like.
  • connection assembly 30 is used to connect two components, the connection assembly 30 has a locking function such that the two components are relatively fixed, while the connection assembly 30 can be unlocked so that the two components can be Relative movement.
  • the connecting component 30 is used to connect the arm 20 to the fuselage 10, so that the arm 20 can be detached relative to the body 10, so that the UAV 100 is convenient. Storage, carrying and transportation without flight.
  • the connecting component 30 includes a first connecting portion 31 and a second connecting portion 32.
  • the first connecting portion 31 is disposed on the joint 11
  • the second connecting portion 32 is disposed on the arm 20 .
  • the second connecting portion 32 is disposed on the main link 211 of the main arm 21.
  • the first connecting portion 31 includes a first connecting member 31a and a first engaging member 31b connected to the first connecting member 31a, and the first connecting member 31a is fixedly connected to the joint 11, the first The engaging member 31b is rotatably coupled to the first connecting member 31a and is engageable with the second connecting portion 32.
  • One end of the first connecting member 31a is fixedly mounted in the mounting hole of the socket portion 112.
  • the first connecting member 31a is fixedly connected to the socket portion 112 by an adhesive, for example, The DP420 glue of 3M Company is baked and bonded to the socket portion 112.
  • the first connecting member 31a can also be fixedly connected to the socket portion 112 by any other suitable manner. No restrictions.
  • a support protrusion 315 is formed on an outer circumferential surface of the first connecting member 31a, and the support protrusion 315 is rotatably coupled to the first engaging member 31b and can support the first engaging member 31b.
  • the support protrusions 315 are substantially arched.
  • the insertion portion 316 is formed on the end surface of the first connecting member 31a away from the joint 11. In the embodiment, the insertion recess 316 is a non-circular recess.
  • the first engaging member 31b includes a rotating portion 311 and a first engaging portion 312.
  • the rotating portion 311 is rotatably coupled to the joint 11.
  • the first engaging portion 312 is disposed on the rotating portion 311. And can be engaged with the second connecting portion 32.
  • the rotating portion 311 is substantially plate-shaped and includes two clamping arms 3111 and an operating portion 3112 connected to the clamping arm 3111.
  • Two clamping arms 3111 are arranged substantially in parallel, and two clamping arms 3111 are formed with a card slot 3113 therebetween, and the two clamping arms 3111 sandwich the supporting convex portion 315 and the first card.
  • the hinge portion 312 is rotatably held therebetween.
  • each of the clamping arms 3111 is a substantially cylindrical elongated arm, and the length of the clamping arm 3111 is greater than the length of the first engaging portion 312, so that the first engaging portion 312 It is rotatable relative to the rotating portion 311 in the card slot 3113.
  • the operation portion 3112 allows an operator to operate to drive the rotation portion 311 to rotate.
  • the operation portion 3112 is connected to one end of the clamp arm 3111 facing away from the joint 11.
  • the operation portion 3112 is integrally formed with the clamp arm 3111.
  • the rotating portion 311 and the joint 11 are rotatably connected to each other by a rotating shaft 3115.
  • the rotating shaft 3115 passes through the clamping arm 3111 and the supporting convex portion 315.
  • An elastic member (not shown) may be disposed between the rotating portion 311 and the joint 11 to enable the rotating portion 311 to have an automatic reset function.
  • the elastic member when the first connecting portion 31 is not connected to the second connecting portion 32, the elastic member holds the rotating portion 311 at a position substantially perpendicular to the longitudinal direction of the socket portion 112. .
  • the elastic member is a torsion spring, and is sleeved on the rotating shaft 3115.
  • One end of the elastic leg abuts against the rotating portion 311, and the other end of the elastic leg abuts against the first segment 222.
  • rotating portion 311 and the joint 11 can be rotatably connected to each other by other structures, and is not limited to the above.
  • the first engaging portion 312 is partially disposed in the card slot 3113 and rotatably connected to the rotating portion 311.
  • the first engaging portion 312 is a sheet-shaped engaging member, and includes an engaging end 3112 and a connecting end 3122 opposite to the engaging end 3121.
  • the end 3121 faces the joint 11 and the connecting end 3122 faces away from the joint 11.
  • the engaging end 3121 can swing with the rotation of the first engaging portion 312.
  • the engaging end 3121 can protrude outside the card slot 3113.
  • the first engaging portion 312 is rotatably coupled to the rotating portion 311 via a rotating shaft 3117, and the rotating shaft 3117 passes through the clamping arm 3111 and the connecting end 3122.
  • the first engaging portion 312 is maintained at a certain angle with respect to the rotating portion 311 by an elastic member (not shown).
  • an elastic member not shown.
  • the The elastic member holds the first engaging portion 312 at an angle at which the engaging end 3121. slightly protrudes from the card slot 3113.
  • the first engaging portion 312 When an external force applied to the first engaging portion 312 overcomes the elastic force of the elastic member, the first engaging portion is rotatable relative to the rotating portion 311, but the elastic member accumulates the elastic potential energy, and the elastic force can cause the first engaging portion 312 to return to the original state once the external force disappears.
  • the elastic member is a torsion spring, and is sleeved on the rotating shaft 3117.
  • One end elastic leg abuts against the rotating portion 311, and the other end elastic leg abuts against the first engaging portion 312. .
  • first engaging portion 312 and the rotating portion 311 may be rotatably connected to each other by other structures, and are not limited to the above.
  • the second connecting portion 32 includes a second connecting member 322 and a second engaging member 321 connected to the second connecting member 322, and the second engaging member 321 can be The first engaging members 31b are engaged with each other.
  • the second connecting member 322 is fixedly connected to the main arm 21, and more specifically, the second connecting member 322 is fixedly connected to the end of the main connecting rod 211.
  • the second connecting The member 322 is fixedly coupled to the main link 211 by an adhesive, for example, bonded to the main link 211 by a DP420 glue of 3M Company.
  • the second connecting member 322 can also be fixedly connected to the column link 211 by any other suitable manner, which is not limited in the specification.
  • a non-circular insertion protrusion 3221 adapted to the insertion recess 316 is formed on an end surface of the second connecting member 322 facing away from the main arm 21, and the insertion protrusion 3221 can be inserted into the insertion
  • the recess 316 is connected such that the first connecting portion 31 and the second connecting portion 32 are coupled to each other.
  • the insertion recess 316 and the insertion protrusion 3221 are non-circularly engaged, and relative rotation of the first connection portion 31 and the second connection portion 32 can be prevented.
  • the second engaging member 321 protrudes from the outer peripheral surface of the second connecting member 322 .
  • the second engaging portion 321 has a substantially V shape, and includes a locking recess 3211, a stopping portion 3212, and a guiding portion 3213.
  • the guiding portion 3213 and the stopping portion 3212 are predetermined. Angle connection, both The engagement recess 3211 is formed therebetween.
  • the engaging recess 3211 can receive and engage with the engaging end 3121 of the first engaging portion 312 , and the stopping portion 3212 can resist the engaging end 3121 of the first engaging portion 312 .
  • the guiding section 3213 is configured to guide the stroke of the engaging end 3121 of the first engaging portion 312 to be accurately engaged in the engaging recess 3211.
  • the guiding portion 3213 includes a guiding surface 3213a.
  • the guiding surface 3213a is inclined to the bottom surface 2231.
  • the angle at which the guiding surface 3213a is inclined with respect to the bottom surface 2231 can be appropriately set according to a certain degree of freedom.
  • the engaging end 3121 of the first engaging portion 312 can be engaged with the engaging recess 3211.
  • the angle can be 5 degrees, 6 degrees, 8 degrees, 10 degrees, 15 degrees, 20 degrees. Degree, 30 degrees, 45 degrees, 60 degrees, etc.
  • the power assembly 40 is used to provide the unmanned aerial vehicle 100 with the power to fly.
  • the power assembly 40 is disposed on the corresponding mounting portion 221 .
  • the power assembly 40 includes a motor 41 and a propeller (not shown) coupled to the motor 41.
  • the motor 41 is capable of driving the propeller to rotate, thereby generating power to drive the UAV 100 to move.
  • the motor 41 can be any suitable type of motor such as a brushless motor or a brushed motor.
  • the motor 41 can be electrically connected to electronic components (such as a flight controller, a power source, etc.) of the body 10 to drive the propeller to rotate according to a predetermined rotational speed.
  • the motor 41 is fixed to the corresponding mounting portion 221, and electrical connection can be made between the electronic components of the body 10 through wires (not shown) disposed inside the arm 20.
  • the propeller is coupled to a rotating shaft of the motor 41 and is rotatable in accordance with the rotation of the rotating shaft.
  • the propeller may be a foldable paddle, and when the UAV 100 is not flying, the propeller may be folded to reduce the volume of the UAV 100 for storage and transportation.
  • the UAV 100 also includes a stand 50 for use as a support for landing of the UAV 100.
  • the number of the tripods 50 is four, and the tripods 50 are respectively disposed at the ends of the arms 22 . It can be understood that the tripod 50 can also be disposed at other positions of the UAV 100. The number of the tripods 50 can also be other suitable changes. For example, the tripod 50 can also be connected to two.
  • the rotating portion 311 When the first connecting member 31a and the second connecting member 322 are inserted into and engaged with the insertion protruding portion 3221, the rotating portion 311 is rotated to make the rotating portion. The 311 is moved toward the second engaging member 321 of the second connecting portion 32. During the rotating portion 311, the engaging end 3121 of the first engaging portion 312 is engaged along the guiding portion 3213.
  • the engaging recess 3211 when the rotating portion 311 is rotated to a position substantially parallel to the main link 211, the engaging end 3121 is completely engaged with the engaging recess 3211, the first engaging Portion 312 and the second engaging portion The two rods are engaged with each other at a dead center position, and the main link 211 and the joint 11 are locked, that is, the arm 20 is coupled to the body 10.
  • the operating portion 3112 When the unlocking is performed, the operating portion 3112 is pulled to move the engaging end 3121 away from the engaging recess 3211.
  • the engaging end 3121 passes over the engaging dead center position, and the first engaging portion is
  • the engagement between the 312 and the second engagement portion 321 is released, that is, the lock between the main link 211 and the joint 11 is released.
  • the main link 211 can be detached from the body 10 to realize quick disassembly and folding of the arm 20 of the UAV 100, which facilitates storage, carrying and transportation of the UAV 100.
  • first connecting member 31a and the second connecting member 322 may be integrally formed with the joint 11 and the main link 211, respectively; or the first connecting member The first connecting member 31b and the second connecting member 322 may be omitted, and the first engaging member 31b and the second engaging member 321 may be directly disposed on the joint 11 and the main link 211, respectively.
  • first connecting portion 31 and the second connecting portion 32 can be interchanged, that is, the structure of the first connecting portion 31 can be disposed on the arm 20, and the second connecting portion The structure of 32 can be placed on the joint 11.
  • connection assembly can be provided between the main arm 21 and the support arm 22 to achieve quick locking and disassembly of the support arm 22 relative to the main arm 21.
  • the arm 20 of the UAV 100 is rotatable relative to the body 10, and the UAV 100 is a deformable aircraft.
  • the UAV 100 may also be non-deformable.
  • the joint 11 can be omitted, and the first connecting portion 31 can be directly connected to the body 10.

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  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
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Abstract

一种无人飞行器(100)，包括机身(10)以及与所述机身(10)相连的机臂(20)以及连接组件(30)。所述机臂(20)能够与所述机身(10)可拆卸地连接。所述连接组件(30)包括第一连接部(31)以及第二连接部(32)，所述第一连接部(31)能够转动地连接于所述机身(10)以及所述机臂(20)中的一个上。所述第二连接部(32)连接于所述第一段以及所述第二段中的另一个上，所述第一连接部(31)能够相对于所述机臂(20)转动并与所述第二连接部(32)卡合连接或者脱离卡合，以锁定所述机身(10)以及所述机臂(20)或者解除对所述机身(10)以及所述机臂(20)的锁定。所述无人飞行器(100)采用所述连接组件(30)实现机臂(20)和机身(10)的快速锁定以及解除锁定，使得无人飞行器(100)的机臂(20)能够拆卸、折叠，方便所述无人飞行的收纳、携带及运输。

Description

无人飞行器 技术领域
本发明涉及飞行器领域，尤其涉及一种无人飞行器。
背景技术
如今，无人飞行器已被广泛用于航拍、监视、勘探、救险、农业植保等领域。对于用户来讲，无人飞行器不仅要实现工作时的多功能，其不工作时如何方便、快捷的收纳、运输，也成为亟待解决的问题。
发明内容
有鉴于此，有必要提供一种避免上述问题的无人飞行器。
一种无人飞行器，包括机身以及与所述机身相连的机臂以及连接组件。所述机臂能够与所述机身可拆卸地连接。所述连接组件包括第一连接部以及第二连接部，所述第一连接部能够转动地连接于所述机身以及所述机臂中的一个上。所述第二连接部连接于所述第一段以及所述第二段中的另一个上，所述第一连接部能够相对于所述机臂转动并与所述第二连接部卡合连接或者脱离卡合，以锁定所述机身以及所述机臂或者解除对所述机身以及所述机臂的锁定。
进一步地，所述第一连接部包括第一卡合件，所述第二连接部包括第二卡合件，所述第一连接部与所述第二连接部通过所述第一卡合件所述第二卡合件的相互配合而卡合连接。
进一步地，所述第一卡合件包括转动部以及第一卡合部，所述转动部能够相对于所述机臂转动，所述第一卡合部能够转动地设置于所述转动部并能够于所述第二卡合件相卡合。
进一步地，所述第一卡合部包括卡合端以及与所述卡合端相背的连接端，所述卡合端能够与所述第二卡合件卡合连接，所述连接端能够转动地连接于所述转动部，使得所述卡合端能够随所述第一卡合部的转动而摆动。
进一步地，所述转动部其包括两个夹持臂以及与所述夹持臂相连的操作部，两个所述夹持臂之间形成有卡槽，两个所述夹持臂所述第一卡合部能够转动地夹持于其间，所述操作部能够被操作而使所述转动部相对于所述机臂转动。
进一步地，所述第一连接部包括第一连接件，所述第一卡合件能够转动地连接于所述第一连接件并通过所述第一连接件连接于所述机身。
进一步地，所述第一连接件的端面形成插接凹部，所述第二连接部上形成有对应于所述插接凹部的插接凸部；或者，所述第一连接件的端面形成插接凸部，所述第二连接部上形成有对应于所述插接凸部的插接凹部，所述插接凸部能够插入所述插接凹部，使得所述第一连接部与所述第二连接部相互配合连接。
进一步地，所述插接凸部为非圆形凸部，所述插接凹部为与所述插接凸部适配的非圆形凹部，所述插接凸部与所述插接凹部配合后能够限制所述第一连接部与所述第二连接部之间的相对转动。
进一步地，所述第一连接件上形成有支撑凸部，所述支撑凸部能够与所述第一卡合件可转动地连接并能够支撑所述第一卡合件。
进一步地，所述第二卡合件包括卡合凹陷，所述卡合凹陷能够与所述卡合端相卡合，以锁定所述机身以及所述机臂。
进一步地，所述第二卡合部还包括挡止段以及导引段，在所述卡合端卡和于所述卡和凹陷内时，所述挡止段能够抵挡所述卡合端，所述导引段包括导引面，所述导引面用于引导所述卡合端的行程，使所述卡合端能够卡入所述卡合凹陷内。
进一步地，所述第二连接部包括第二连接件，所述第二连接件与所述机臂固定连接，所述第二卡合件设于所述第二连接件上，并通过所述第二连接件与所述机臂连接。
进一步地，所述无人飞行器还包括关节，所述关节能够转动地连接于所述机身，所述机臂通过所述连接组件以及所述关节能够转动地连接于所述机身，并且相对于所述机身能够拆卸。
进一步地，所述关节包括轴接部以及与所述轴接部相连的套接部，所述轴接部与机身能够转动地连接，所述套接部能够与所述机臂套接。
进一步地，所述轴接部大致呈扇形柱状，其具有部分圆柱形的侧面以及分别连接于所述侧面的两侧的第一限位面、第二限位面，所述侧面连接于所述轴接部，所述第一限位面与所述第二限位面相互呈预定角度连接，在所述轴接部相对于所述机身转动预定角度时，所述第一限位面或者所述第二限位面能够与所述机身接触，以限定所述轴接部相对于所述机身的转动角度。
相对于现有技术，所述无人飞行器采用所述连接组件实现机臂和机身的快速锁定以及解除锁定，使得无人飞行器的机臂能够拆卸、折叠，方便所述无人飞行的收纳、携带及运输。
附图说明
图1是本发明实施方式的无人飞行器的立体图。
图2是图1的无人飞行器另一状态的立体图。
图3是图2的无人飞行器的III部分的放大图。
图4是图1的无人飞行器的部分结构的立体图，图中显示了主臂、关节与连接组件。
主要元件符号说明
无人飞行器    100
机身          10
关节          11
轴接部        111
侧面          1111
第一限位面    1112
第二限位面    1113
套接部        112
机臂          20
主臂          21
主连杆        211
副连杆        212
支臂          22
连接组件      30
第一连接部    31
第一连接件    31a
支撑凸部      315
插接凹部      316
第一卡合件    31b
转动部        311
夹持臂        3111
操作部        3112
卡槽          3113
转轴          3115、3117
第一卡合部    312
卡合端        3121
连接端        3122
第二连接部    32
第二卡合件    321
卡合凹陷      3211
挡止段        3212
导引段        3213
导引面        3213a
第二连接件    322
插接凸部      3221
动力组件      40
脚架          50
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“或/及”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1至图4，本发明实施方式的无人飞行器100包括机身10、机臂20、连接组件30以及动力组件40。本实施方式中，所述无人飞行器100为四旋翼无人飞行器，因此所述动力组件40为旋翼组件且数量为四个，四个所述动 力组件40通过所述机臂20的支撑而分布于所述机身10周围的矩形区域内，且每一个所述动力组件40位于所述矩形一个顶点上。依据空气动力学的原理，为避免所述动力组件40在转动时产生扰流，相邻的所述动力组件40在工作时的旋向不同，相对的所述动力组件40的旋向相同。
当然，依据不同的需求，所述动力组件40的数量可以作合适的变化，例如所述动力组件40的数量可以为两个、三个、六个、八个、十六个等，甚至，所述动力组件40的数量可以仅为一个，相应地，所述机臂20的数量也可以依据所述动力组件40的数量而合理设置。
所述机身10为所述无人飞行器100的承载件，所述机身10上或者内部可以设置有电气安装部，所述电气安装部可以安装及承载传感器、电路板、处理器、通信模块及电池等电子元件。本实施方式中，所述机身10的为由支架搭接而成的位于所述无人飞行器100中部位置的框架，所述机臂20能够转动连接于所述机身10的侧部。可以理解，在其他的实施方式中，机身10外也可以设置有外壳，所述外壳能够保护所述机身10上或者内部设置的电子元件。此外，所述外壳的形状设计也以能够减小飞行时的空气阻力为佳，例如，所述外壳可以为流线形、圆形、椭圆形等。
依据所述无人飞行器100的应用领域的不同，所述机身10上也可以搭载其他的能够实现特定任务的负载，例如，所述无人飞行器100用于航拍时，所述机身10可以搭载配有增稳云台的拍摄设备；所述无人飞行器100用于喷洒农药时，所述机身10可以搭载药箱以及喷洒装置；所述无人飞行器100用于竞技游戏时，所述机身10可以搭载游戏设备等。
所述机臂20用于支撑所述动力组件40并使所述动力组件40以预定样式分布于所述机身10周围。所述机臂20能够转动地连接于所述机身10的侧部，因此，所述机臂20能够相对于所述机身10调整不同的位置、状态。例如，在着陆时，所述机臂20相对于所述机身10向下方转动，以为所述无人飞行器100提供支撑；在飞行时，所述机臂20相对于所述机身10向上方转动，以避免所述机臂20对所述机身10上的负载造成遮挡。应当注意，所述“上方”、“下方”以所述无人飞行器100的处于正常飞行状态为参照，“下方”为所述无人飞行器100朝向地面的方向，“上方”为所述无人飞行器100背离地面的方向，但是，由于所述无人飞行器100的状态会有变化，上述描述不应理解为对实施方式的 唯一性限定。
本实施方式中，所述机臂20与所述机身10通过关节11能够转动地连接，所述关节11的一端与所述机身10能够转动地连接，另一端通过所述连接组件30与所述机臂20连接。具体地，所述关节11包括轴接部111以及与所述轴接部111相连的套接部112，所述轴接部111与机身10能够转动地连接，所述套接部112能够与所述机臂20套接。所述轴接部111大致呈扇形柱状，其具有部分圆柱形的侧面1111以及分别连接于所述侧面1111的两侧的第一限位面1112、第二限位面1113，所述第一限位面1112与所述第二限位面1113相互呈预定角度连接。所述侧面1111连接于所述轴接部111，所述轴接部111的所述第一限位面1112与所述第二限位面1113的连接位置处能够转动地连接于所述机身10。所述第一限位面1112以及所述第二限位面1113为平面，在所述轴接部111相对于所述机身10转动预定角度时，所述第一限位面1112或者所述第二限位面1113能够与所述机身10接触，以限定所述轴接部111相对于所述机身10的转动角度，可以理解，依据具体需求的不同，所述第一限位面1112与所述第二限位面1113的连接角度可以做任意合适的变化，不再详述。
所述套接部112大致呈中空的柱状，其背离所述轴接部111的一端开设有安装孔(未标示)，所述安装孔能够安装所述连接组件30。
在图示的实施方式中，所述机臂20包括主臂21以及与所述主臂21相连的支臂22。所述主臂21的一端可转动地连接于所述机身10上，另一端与所述支臂22相连。本实施方式中，所述主臂21与所述支臂22大致连接呈“T”形。
本实施方式中，所述主臂21与所述机身10之间采用丝杆、螺母配合的方式调整相对角度，另外，所述丝杆、螺母配合的方式可以使得所述支臂22相对于所述机身10能够停留在任意角度，便于依据不同的需求调整所述无人飞行器100的形状。
本实施方式中，所述主臂21的数量为两个，两个所述主臂21分别连接于所述机身10的相背两侧，每一个所述主臂21连接两个所述支臂22，两个所述支臂22同轴设置分别位于所述主臂21的两侧。当然，每一个所述主臂21两侧的所述支臂22可以一体连接，此时所述支臂22表现为一个整体的长形臂。
可以理解，所述主臂21及其对应的所述支臂22的数量也可以依据具体需求有所变化，例如，所述主臂21的数量可以为三个、四个或者更多。
图示的实施方式中，所述主臂21采用平行连杆的结构，其包括主连杆211以及大致与所述主连杆211平行的副连杆212。所述主连杆211的一端能够与所述关节11可拆卸地连接，另一端与所述支臂22连接；所述副连杆212的两端分别能够转动地连接于所述机身10以及所述支臂22。所述主臂21采用所述主连杆211以及所述副连杆212的结构，能够增强支撑的强度，保证主臂21的稳定性以及使用寿命。在其他的实施方式中，所述副连杆212可以省略，而只保留所述主连杆211的结构。
可以理解，所述主臂21并不限于上述结构，任何能够转动地连接于所述机身10的结构均可适用于所述无人飞行器100，本说明书不做限制。
所述支臂22为大致呈圆柱状的长条形杆。所述支臂22的大致中部位置连接所述主臂21，所述支臂22与所述主臂21大致垂直。所述支臂22的两端分别形成有用于安装所述动力组件40的安装部221。
可以理解，所述支臂22与所述主臂21之间的连接方式并不限于图示的实施方式，例如，所述支臂22可以不与所述主臂21垂直，所述支臂22的端部连接于所述主臂21等。
所述连接组件30用于连接两个部件，所述连接组件30具有锁定功能，使得所述两个部件之间相对固定，同时所述连接组件30能够解锁，使得所述两个部件之间可以相对运动。本实施方式中，所述连接组件30用于将所述机臂20连接于所述机身10，使得所述机臂20相对于所述机身10能够拆卸，方便所述无人飞行器100在不飞行状态下的收纳、携带及运输。
具体地，所述连接组件30包括第一连接部31以及第二连接部32，所述第一连接部31设置于所述关节11上，所述第二连接部32设置于所述机臂20上，进一步地，所述第二连接部32设置于所述主臂21的所述主连杆211上。
所述第一连接部31包括第一连接件31a以及与所述第一连接件31a相连的第一卡合件31b，所述第一连接件31a与所述关节11固定连接，所述第一卡合件31b能够转动地连接于所述第一连接件31a，并能够与所述第二连接部32卡合连接。所述第一连接件31a的一端固定安装于所述套接部112的安装孔内，具体地，所述第一连接件31a通过粘合胶与所述套接部112固定相连，例如，采用3M公司的DP420胶水烘烤粘结于所述套接部112。当然，所述第一连接件31a也可以采用其他任意合适的方式与所述套接部112固定相连，本说明书 不作限制。所述第一连接件31a的外周面上形成有支撑凸部315，所述支撑凸部315能够与所述第一卡合件31b可转动地连接并能够支撑所述第一卡合件31b。本实施方式中，所述支撑凸部315大致呈拱形。所述第一连接件31a背离所述关节11的一端表面上形成插接凹部316，本实施方式中，所述插接凹部316为非圆形凹陷。
所述第一卡合件31b包括转动部311以及第一卡合部312，所述转动部311能够转动地连接于所述关节11，所述第一卡合部312设置于所述转动部311并能够与所述第二连接部32相卡合。
图示的实施方式中，所述转动部311大致呈板状，其包括两个夹持臂3111以及与所述夹持臂3111相连的操作部3112。两个所述夹持臂3111大致平行间隔设置，两个所述夹持臂3111之间形成有卡槽3113，两个所述夹持臂3111将所述支撑凸部315以及所述第一卡合部312能够转动地夹持于其间。本实施方式中，每一个所述夹持臂3111为大致柱状的长形臂，所述夹持臂3111的长度大于所述第一卡合部312的长度，使得所述第一卡合部312能够在所述卡槽3113内相对于所述转动部311转动。所述操作部3112允许操作者操作以驱动所述转动部311转动。所述操作部3112连接于所述夹持臂3111背离所述关节11的一端，本实施方式中，所述操作部3112与所述夹持臂3111一体成型。
所述转动部311与所述关节11之间通过转轴3115相互能够转动地连接，具体地，所述转轴3115穿过所述夹持臂3111以及所述支撑凸部315。所述转动部311与所述关节11之间可以设置弹性件(图未示)，以使所述转动部311具有自动复位的功能。本实施方式中，所述第一连接部31未与所述第二连接部32连接时，所述弹性件使所述转动部311保持于大致与所述套接部112的长度方向垂直的位置。
具体地，所述弹性件为扭簧，其套设于所述转轴3115上，一端弹性脚抵持于所述转动部311，另一端弹性脚抵持于所述第一段222。
可以理解，所述转动部311与所述关节11之间也可以采用其他的结构能够转动地相互连接，不限于以上所述。
图示的实施方式中，所述第一卡合部312部分设置于所述卡槽3113内并与所述转动部311能够转动地连接。具体地，所述第一卡合部312为片状卡合件，其包括卡合端3121以及与所述卡合端3121相背的连接端3122，所述卡合 端3121朝向所述关节11，所述连接端3122背离所述关节11。所述卡合端3121能够随所述第一卡合部312的转动而摆动的，本实施方式中，所述卡合端3121能够伸出所述卡槽3113外。
所述第一卡合部312通过转轴3117与所述转动部311能够转动地连接，所述转轴3117穿过所述夹持臂3111以及所述连接端3122。所述第一卡合部312通过弹性件(图未示)相对于所述转动部311保持一定的角度，在所述第一连接部31与所述第二连接部32不连接时，所述弹性件将所述第一卡合部312保持于卡合端3121稍微伸出所述卡槽3113的角度，当施加于所述第一卡合部312的外力克服了弹性件的弹性力时，所述第一卡合部能够相对于所述转动部311转动，但弹性件会累积弹性势能，一旦外力消失使，所述弹性势能够使得第一卡合部312有回复原始状态的趋势。
本实施方式中，所述弹性件为扭簧，其套设于所述转轴3117上，一端弹性脚抵持于所述转动部311，另一端弹性脚抵持于所述第一卡合部312。
可以理解，所述第一卡合部312与所述转动部311之间也可以采用其他的结构能够转动地相互连接，不限于以上所述。
图示的实施方式中，所述第二连接部32包括第二连接件322以及与所述第二连接件322连接的第二卡合件321，所述第二卡合件321能够与所述第一卡合件31b相卡合连接。所述第二连接件322与所述主臂21固定连接，更具体地，所述第二连接件322与所述主连杆211的端部固定连接，本实施方式中，所述第二连接件322通过粘合胶与所述主连杆211固定相连，例如，采用3M公司的DP420胶水烘烤粘结于所述主连杆211。当然，所述第二连接件322也可以采用其他任意合适的方式与所述柱连杆211固定相连，本说明书不作限制。所述第二连接件322的背离所述主臂21的端面上形成有与所述插接凹部316适配的非圆形插接凸部3221，所述插接凸部3221能够插入所述插接凹部316，使得所述第一连接部31与所述第二连接部32相互配合连接。本实施方式中，所述插接凹部316与所述插接凸部3221之间为非圆配合，能够防止所述第一连接部31与所述第二连接部32在连接时的相对转动。
所述第二卡合件321凸出形成于所述第二连接件322的外周面。本实施方式中，所述第二卡合部321具有大致呈V形，包括卡合凹陷3211、挡止段3212以及导引段3213，所述导引段3213与所述挡止段3212呈预定角度连接，二者 之间形成所述卡合凹陷3211。所述卡合凹陷3211能够收容所述第一卡合部312的卡合端3121并与之卡合，所述挡止段3212能够抵挡所述第一卡合部312的卡合端3121，所述导引段3213用于引导所述第一卡合部312的卡合端3121的行程，使其准确卡入所述卡合凹陷3211。所述导引段3213包括导引面3213a，所述导引面3213a与所述底面2231倾斜设置，所述导引面3213a相对于所述底面2231倾斜的角度可以依据一定的自由度适当设置，只要能够引导所述第一卡合部312的卡合端3121卡入所述卡合凹陷3211即可，例如，所述角度可以为5度、6度、8度、10度、15度、20度、30度、45段、60度等。
所述动力组件40用于为所述无人飞行器100提供飞行的动力。所述动力组件40设置于对应的所述安装部221上。所述动力组件40包括电机41以及与所述电机41相连的螺旋桨(图未示)。所述电机41能够驱动所述螺旋桨转动，进而产生驱动所述无人飞行器100运动的动力。所述电机41可以为无刷电机、有刷电机等任意合适类型的电机。所述电机41能够与所述机身10的电子元件(如飞控、电源等)电连接，实现按照预定的转速、转向驱动所述螺旋桨转动。所述电机41固定于对应的所述安装部221上，与所述机身10的电子元件之间可以通过设置于所述机臂20内部的导线(图未示)实现电连接。所述螺旋桨连接于电机41的转动轴上，并能够随所述转动轴的转动而旋转。优选地，所述螺旋桨可以为可折叠桨，在所述无人飞行器100不飞行时，所述螺旋桨可以折叠起来，以减少无人飞行器100的体积，便于收纳及运输。
所述无人飞行器100还包括脚架50，所述脚架50用于作为所述无人飞行器100着陆时的支撑。本实施方式中，所述脚架50的数量为四个，所述脚架50分别设置于所述支臂22的末端。可以理解，所述脚架50也可以设置于所述无人飞行器100的其他位置，所述脚架50的数量也可以做其他合适的变化，例如所述脚架50也可以为两个连接于所述机身10的U形支架结构。
锁定时，所述第一连接件31a与所述第二连接件322通过所述插接凹部316与所述插接凸部3221相互插接配合，转动所述转动部311，使所述转动部311向所述第二连接部32的第二卡合件321运动，所述转动部311转动的过程中，所述第一卡合部312的卡合端3121沿所述导引段3213卡入所述卡合凹陷3211内，当所述转动部311转动至大致与主连杆211大致平行的位置时，所述卡合端3121完全卡入所述卡合凹陷3211，所述第一卡合部312与所述第二卡合部 321二者相互卡合于死点位置，所述主连杆211与所述关节11被锁定，即，所述机臂20被连接于所述机身10。
解锁时，扳动所述操作部3112，以使所述卡合端3121脱离所述卡合凹陷3211运动，所述卡合端3121越过卡合死点位置所述，所述第一卡合部312与所述第二卡合部321的卡合解除，即所述主连杆211与所述关节11之间的锁定被解除。此时，所述主连杆211能够自所述机身10拆下，实现所述无人飞行器100的机臂20的快速拆卸、折叠，方便所述无人飞行器100的收纳、携带及运输。
可以理解，在其他的实施方式中，所述第一连接件31a以及所述第二连接件322可以分别与所述关节11以及所述主连杆211一体成型；或者，所述第一连接件31a以及所述第二连接件322也可以省略，而直接将所述第一卡合件31b以及所述第二卡合件321分别设置于所述关节11以及所述主连杆211上。
可以理解，所述第一连接部31与所述第二连接部32的结构可以互换，即所述第一连接部31的结构可以设置于所述机臂20上，所述第二连接部32的结构可以设置于所述关节11上。
可以理解，所述主臂21与所述支臂22之间也可以设置类似的连接组件，以实现所述支臂22相对所述主臂21的快速锁定，拆卸。
图示的实施方式中，所述无人飞行器100的机臂20能够相对机身10转动，及所述无人飞行器100为可变形的飞行器，当然，所述无人飞行器100也可以为不可变形的飞行器，此时，所述关节11可以省略，所述第一连接部31可以直接与所述机身10相连。
可以理解的是，本领域技术人员还可在本发明精神内做其它变化等用在本发明的设计，只要其不偏离本发明的技术效果均可。这些依据本发明精神所做的变化，都应包含在本发明所要求保护的范围之内。

Claims (15)

  1. 一种无人飞行器，包括机身以及与所述机身相连的机臂以及连接组件，其特征在于：所述机臂能够与所述机身可拆卸地连接，所述连接组件包括第一连接部以及第二连接部，所述第一连接部能够转动地连接于所述机身以及所述机臂中的一个上，所述第二连接部连接于所述第一段以及所述第二段中的另一个上，所述第一连接部能够相对于所述机臂转动并与所述第二连接部卡合连接或者脱离卡合，以锁定所述机身以及所述机臂或者解除对所述机身以及所述机臂的锁定。
  2. 如权利要求1所述的无人飞行器，其特征在于：所述第一连接部包括第一卡合件，所述第二连接部包括第二卡合件，所述第一连接部与所述第二连接部通过所述第一卡合件所述第二卡合件的相互配合而卡合连接。
  3. 如权利要求2所述的无人飞行器，其特征在于：所述第一卡合件包括转动部以及第一卡合部，所述转动部能够相对于所述机臂转动，所述第一卡合部能够转动地设置于所述转动部并能够于所述第二卡合件相卡合。
  4. 如权利要求3所述的无人飞行器，其特征在于：所述第一卡合部包括卡合端以及与所述卡合端相背的连接端，所述卡合端能够与所述第二卡合件卡合连接，所述连接端能够转动地连接于所述转动部，使得所述卡合端能够随所述第一卡合部的转动而摆动。
  5. 如权利要求4所述的无人飞行器，其特征在于：所述转动部其包括两个夹持臂以及与所述夹持臂相连的操作部，两个所述夹持臂之间形成有卡槽，两个所述夹持臂所述第一卡合部能够转动地夹持于其间，所述操作部能够被操作而使所述转动部相对于所述机臂转动。
  6. 如权利要求2所述的无人飞行器，其特征在于：所述第一连接部包括第一连接件，所述第一卡合件能够转动地连接于所述第一连接件并通过所述第一连接件连接于所述机身。
  7. 如权利要求6所述的无人飞行器，其特征在于：所述第一连接件的端面形成插接凹部，所述第二连接部上形成有对应于所述插接凹部的插接凸部；或者，所述第一连接件的端面形成插接凸部，所述第二连接部上形成有对应于所述插接凸部的插接凹部，所述插接凸部能够插入所述插接凹部，使得所 述第一连接部与所述第二连接部相互配合连接。
  8. 如权利要求7所述的无人飞行器，其特征在于：所述插接凸部为非圆形凸部，所述插接凹部为与所述插接凸部适配的非圆形凹部，所述插接凸部与所述插接凹部配合后能够限制所述第一连接部与所述第二连接部之间的相对转动。
  9. 如权利要求6所述的无人飞行器，其特征在于：所述第一连接件上形成有支撑凸部，所述支撑凸部能够与所述第一卡合件可转动地连接并能够支撑所述第一卡合件。
  10. 如权利要求4所述的无人飞行器，其特征在于：所述第二卡合件包括卡合凹陷，所述卡合凹陷能够与所述卡合端相卡合，以锁定所述机身以及所述机臂。
  11. 如权利要求10所述的无人飞行器，其特征在于：所述第二卡合部还包括挡止段以及导引段，在所述卡合端卡和于所述卡和凹陷内时，所述挡止段能够抵挡所述卡合端，所述导引段包括导引面，所述导引面用于引导所述卡合端的行程，使所述卡合端能够卡入所述卡合凹陷内。
  12. 如权利要求4所述的无人飞行器，其特征在于：所述第二连接部包括第二连接件，所述第二连接件与所述机臂固定连接，所述第二卡合件设于所述第二连接件上，并通过所述第二连接件与所述机臂连接。
  13. 如权利要求1所述的无人飞行器，其特征在于：还包括关节，所述关节能够转动地连接于所述机身，所述机臂通过所述连接组件以及所述关节能够转动地连接于所述机身，并且相对于所述机身能够拆卸。
  14. 如权利要求13所述的无人飞行器，其特征在于：所述关节包括轴接部以及与所述轴接部相连的套接部，所述轴接部与机身能够转动地连接，所述套接部能够与所述机臂套接。
  15. 如权利要求14所述的无人飞行器，其特征在于：所述轴接部大致呈扇形柱状，其具有部分圆柱形的侧面以及分别连接于所述侧面的两侧的第一限位面、第二限位面，所述侧面连接于所述轴接部，所述第一限位面与所述第二限位面相互呈预定角度连接，在所述轴接部相对于所述机身转动预定角度时，所述第一限位面或者所述第二限位面能够与所述机身接触，以限定所述轴接部相对于所述机身的转动角度。
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