WO2018107972A1 - 一种机臂及无人机 - Google Patents

一种机臂及无人机 Download PDF

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Publication number
WO2018107972A1
WO2018107972A1 PCT/CN2017/113794 CN2017113794W WO2018107972A1 WO 2018107972 A1 WO2018107972 A1 WO 2018107972A1 CN 2017113794 W CN2017113794 W CN 2017113794W WO 2018107972 A1 WO2018107972 A1 WO 2018107972A1
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Prior art keywords
arm
retaining member
arm section
section
segment
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Ceased
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PCT/CN2017/113794
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English (en)
French (fr)
Inventor
李镇良
吕航
苏文兵
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2018107972A1 publication Critical patent/WO2018107972A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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

Definitions

  • Embodiments of the present invention relate to the field of drones, and in particular, to a robot arm and a drone.
  • Unmanned Aerial Vehicle which has the advantages of flexibility, quick response, no flight, and low operational requirements. Loading a variety of sensors on the drone, such as a camera, enables real-time image transmission and high-altitude detection.
  • UAVs are widely used in fire, military, transportation, police, exploration, and meteorology to enable cruise photography and surveillance of designated areas.
  • most of the drones are multi-axis unmanned aerial vehicles, such as four-axis and six-axis.
  • the arm is radially arranged relative to the fuselage, it has the disadvantages of large volume and inconvenient transportation. At the same time, the radially-arranged arm may Collisions will occur during transportation, resulting in deviations in the balance and stability of the whole machine, affecting the normal use of the drone.
  • the technical problem mainly solved by the embodiments of the present invention is to provide a robot arm and a drone, which can realize rapid installation and disassembly of the arm.
  • a technical solution adopted by the present invention is to provide an arm including a first arm segment and a second arm segment detachably coupled to the first arm segment, the first The arm section is provided with a locking portion, and the second arm section is provided with a limiting portion; the first arm section and the second arm section pass the lock of the locking part and the limiting part Tight fit with detachable connection.
  • the locking portion includes a lock cylinder disposed on the first arm segment and a locking body rotatable about the lock cylinder.
  • the lock cylinder is disposed on the first arm section through a connecting portion.
  • the locking body has a varying diameter.
  • the limiting portion is a limiting slot.
  • the limiting groove extends along a circumferential direction of the second arm segment.
  • the locking portion further includes a fastening portion, and the fastening portion extends in a tangential direction of the locking body.
  • the locking body is a cam.
  • the first arm segment and the second arm segment are both hollow structures, and the first retaining member is provided with a first retaining member on the inner wall; a second retaining member that cooperates with the first retaining member is disposed on an outer wall of the two arm segments;
  • the first arm segment and the second arm segment are axially constrained by the cooperation of the first retaining member and the second retaining member.
  • first retaining member and the second retaining member respectively extend along an axial direction of the first arm segment and the second arm segment.
  • the first retaining member is a guiding key; and the second retaining member is a guiding slot.
  • the first arm section and the second arm section are both hollow structures, and the first retaining member is provided on the outer wall of the first arm section.
  • a second retaining member that cooperates with the first retaining member is disposed on an inner wall of the second arm segment;
  • the first arm segment and the second arm segment are axially constrained by the cooperation of the first retaining member and the second retaining member.
  • first retaining member and the second retaining member respectively extend along an axial direction of the first arm segment and the second arm segment.
  • the first retaining member is a guiding groove; and the second retaining member is a guiding key.
  • the first retaining member and the second retaining member are of equal length.
  • a drone including a fuselage and an arm connected to the fuselage, the arm including a first part connected to the fuselage and a second portion that is detachably coupled to the first portion.
  • the first portion is fixedly or detachably connected to the body.
  • the first portion is the first arm segment described above, and the second portion is the second arm segment described above.
  • the first portion is the second arm segment described above, and the second portion is the first arm segment described above.
  • the embodiment of the present invention only needs to buckle or loosen the locking portion to complete the detachable connection of the first arm segment and the second arm segment, without using an additional tool, thereby
  • the quick installation and disassembly of the arm can be realized, which greatly improves the ease of disassembly and assembly of the arm.
  • FIG. 1 is a split view of an arm provided by an embodiment of the present invention.
  • Figure 2 is an assembled view of the arm of Figure 1;
  • Figure 3 is a perspective view showing the structure of the arm shown in Figure 2 in a locked state
  • Figure 4 is a schematic cross-sectional view of the arm shown in Figure 3;
  • Figure 5 is a schematic cross-sectional view of the arm shown in Figure 3 in a loosened state
  • FIG. 6 is a split view of a machine arm according to another embodiment of the present invention.
  • Figure 7 is an assembled view of the arm of Figure 6;
  • Figure 8 is a perspective view showing the structure of the arm shown in Figure 7 in a locked state
  • Figure 9 is a schematic cross-sectional view of the arm shown in Figure 8.
  • Figure 10 is a schematic cross-sectional view of the arm shown in Figure 8 in a loosened state
  • FIG. 11 is a split view of a robot arm according to still another embodiment of the present invention.
  • an arm of one embodiment of the present invention includes a first arm section 11 and a second arm section 12 detachably coupled to the first arm section 11 .
  • the first arm section 11 is a hollow tubular structure comprising: a first retaining member 111 disposed on an inner wall of the first arm section 11 and a locking portion 112 disposed on an outer wall of the first arm section 11.
  • the first retaining member 111 is a guide key.
  • the first retaining member 111 extends along the axial direction of the first arm segment 11.
  • the number of the first retaining members 111 is at least one, in an embodiment of the present invention
  • the number of the first retaining members 111 is three, and is evenly spaced along the circumferential direction of the inner wall of the first arm segment 11.
  • the number of the first retaining members 111 may also be plural, and the plurality of the first retaining members 111 are evenly spaced on the inner wall of the first arm segment 11 .
  • the number of the locking portions 112 is three, evenly spaced along the circumferential direction of the outer wall of the first arm portion 11, and is located at an opening position near one end of the first arm portion 11.
  • the number of the locking portions 112 may also be plural, and the plurality of locking portions 112 are evenly spaced along the circumferential direction of the outer wall of the first arm segment 11.
  • the number of the locking portions 112 can be designed according to the material hardness, size and weight of the second arm portion 12, for example, for a small and lightweight arm, one or two locking portions 112 are used. That is, for a large heavier arm, four or more locking portions 112 can be added.
  • the locking portion 112 includes a connecting portion 113 disposed on the outer wall of the first arm portion 11, a lock cylinder 114 connected to the connecting portion 113, and is rotatable around the lock cylinder 114 and the lock cylinder 114.
  • the associated locking body 115 and the fastening portion 116 extending in the tangential direction of the locking body 115.
  • the locking body 115 has a varying diameter, and the fastening portion 116 is for facilitating the user to rotate the locking body 115.
  • the locking body 115 can be a cam. .
  • the second arm section 12 is a hollow tubular structure including: a second retaining member 121 disposed on the outer wall of the second arm section 12 and a limit extending in the circumferential direction of the outer wall of the second arm section 12 Slot 122.
  • the second retaining member 121 is a guiding groove.
  • the second retaining member 121 extends along the axial direction of the second arm section 12 and is disposed adjacent to the opening of one end of the second arm section 12.
  • the position of the second retaining member 121 corresponds to the position of the first retaining member 111 on the first arm segment 11, and the length of the second retaining member 121 may be less than or equal to the length of the first retaining member 111.
  • the number of the second retaining members 121 corresponds to the number of the first retaining members 111.
  • the second retaining member 121 is coupled to the first retaining member 111 to achieve the axial direction of the first arm segment 11 and the second arm segment 12 after the mating engagement.
  • the position of the limiting slot 122 is adjacent to the position of the second retaining member 121 and is adjacent to the opening at one end of the second arm section 12.
  • FIG. 2 is a schematic view showing the structure of the first arm section 11 and the second arm section 12 being inserted and mated.
  • First The second retaining member 121 of the outer wall of the second arm section 12 is engaged with the first retaining member 111 of the inner wall of the first arm section 11 due to the axial limitation of the first retaining member 111 and the second retaining member 121.
  • the locking body 115 is just aligned with the limiting slot 122.
  • the first arm section 11 and the second arm section 12 are movably connected, and the two can move axially away from each other.
  • the circumferentially uniform locking body 115 is sequentially fastened by the fastening portion 116, and the circumferentially uniform locking portion 112 can ensure the first arm segment 11 passes through the locking portion 112 and the second arm portion 12. After locking, the second arm section 12 is evenly stressed. Since the locking body 115 has a varying diameter, the diameter of the locking body 115 gradually increases and is buckled into the limiting slot 122 during pressing, forming a certain degree of interference squeeze on the second arm section 12 to The locking engagement of the second arm section 12 with the first arm section 11 is achieved to prevent the first arm section 11 from being disengaged from the second arm section 12.
  • the diameter of the locking body 115 is larger than the outer wall of the second arm section 12, and the circumferentially evenly locking body 115 enters the second arm section.
  • an interference grip force is formed, and the locking engagement of the first arm section 11 and the second arm section 12 can be achieved.
  • the locking body 115 is rotated to a smaller diameter. At this time, there is a certain distance between the locking body 115 and the outer wall of the second arm section 12, and the second arm Segment 12 can be easily removed.
  • the arm provided by the embodiment of the present invention can complete the installation and disassembly of the first arm section 11 and the second arm section 12 without using an additional operating tool.
  • the second arm section 12 after loading does not have elastic sway, gap fit sway, and the like. Thereby, the quick installation and disassembly of the arm can be realized, and the ease of disassembly and assembly of the arm is greatly improved.
  • a second embodiment of the present invention includes a first arm section 11 and a second arm section 12 detachably coupled to the first arm section 11.
  • the first arm section 11 is a hollow tubular structure comprising: a first retaining member 111 disposed on an inner wall of the first arm section 11 and a locking portion 112 disposed on an outer wall of the first arm section 11. Different from the previous embodiment, in the embodiment, the first retaining member 111 is guided. groove.
  • the first retaining member 111 extends along the axial direction of the first arm segment 11.
  • the number of the first retaining members 111 is at least one. In an embodiment of the invention, the number of the first retaining members 111 is three, and is evenly spaced along the circumferential direction of the inner wall of the first arm segment 11. . In other possible embodiments, the number of the first retaining members 111 may also be plural, and the plurality of the first retaining members 111 are evenly spaced on the inner wall of the first arm segment 11 .
  • the number of the locking portions 112 is three, evenly spaced along the circumferential direction of the outer wall of the first arm portion 11, and is located at an opening position near one end of the first arm portion 11. In other possible embodiments, the number of the locking portions 112 may also be plural, and the plurality of locking portions 112 are evenly spaced along the circumferential direction of the outer wall of the first arm segment 11.
  • the locking portion 112 includes a connecting portion 113 disposed on the outer wall of the first arm portion 11, a lock cylinder 114 connected to the connecting portion 113, and is rotatable around the lock cylinder 114 and the lock cylinder 114.
  • the associated locking body 115 and the fastening portion 116 extending in the tangential direction of the locking body 115.
  • the locking body 115 has a varying diameter, and the fastening portion 116 is for facilitating the user to rotate the locking body 115.
  • the locking body 115 can be a cam. .
  • the second arm section 12 is a hollow tubular structure including: a second retaining member 121 disposed on the outer wall of the second arm section 12 and a limit extending in the circumferential direction of the outer wall of the second arm section 12 Slot 122.
  • the second retaining member 121 is a guiding key.
  • the second retaining member 121 extends along the axial direction of the second arm section 12 and is disposed adjacent to the opening of one end of the second arm section 12.
  • the position of the second retaining member 121 corresponds to the position of the first retaining member 111 on the first arm segment 11, and the length of the second retaining member 121 may be less than or equal to the length of the first retaining member 111.
  • the number of the second retaining members 121 corresponds to the number of the first retaining members 111.
  • the second retaining member 121 is coupled to the first retaining member 111 to achieve the axial direction of the first arm segment 11 and the second arm segment 12 after the mating engagement.
  • the position of the limiting slot 122 is adjacent to the position of the second retaining member 121 and is adjacent to the opening at one end of the second arm section 12.
  • FIG. 7 is a schematic structural view of the first arm section 11 and the second arm section 12 being inserted and mated.
  • First The second retaining member 121 of the outer wall of the second arm section 12 is engaged with the first retaining member 111 of the inner wall of the first arm section 11 due to the axial limitation of the first retaining member 111 and the second retaining member 121.
  • the locking body 115 is just aligned with the limiting slot 122.
  • the first arm section 11 and the second arm section 12 are movably connected, and the two can move axially away from each other.
  • the circumferentially uniform locking body 115 is sequentially fastened by the fastening portion 116, and the circumferentially uniform locking portion 112 can ensure the first arm segment 11 passes through the locking portion 112 and the second arm portion 12. After locking, the second arm section 12 is evenly stressed. Since the locking body 115 has a varying diameter, the diameter of the locking body 115 gradually increases and is buckled into the limiting slot 122 during pressing, forming a certain degree of interference squeeze on the second arm section 12 to The locking engagement of the second arm section 12 with the first arm section 11 is achieved to prevent the first arm section 11 from being disengaged from the second arm section 12.
  • the diameter of the locking body 115 is larger than the outer wall of the second arm section 12, and the circumferentially evenly locking body 115 enters the second arm section.
  • an interference grip force is formed, and the locking engagement of the first arm section 11 and the second arm section 12 can be achieved.
  • the locking body 115 when the arm is in the released state, the locking body 115 is rotated to a smaller diameter, and at this time, there is a certain distance between the locking body 115 and the outer wall of the second arm section 12, and the second arm Segment 12 can be easily removed.
  • the arm provided by the embodiment of the present invention can complete the installation and disassembly of the first arm section 11 and the second arm section 12 without using an additional operating tool.
  • the second arm section 12 after loading does not have elastic sway, gap fit sway, and the like. Thereby, the quick installation and disassembly of the arm can be realized, and the ease of disassembly and assembly of the arm is greatly improved.
  • a second embodiment of the present invention includes a first arm section 11 and a second arm section 12 , and the second arm section 12 is detachably coupled to the first arm section 11 .
  • the first arm section 11 is a hollow tubular structure including a first retaining member 111 and a locking portion 112.
  • the first retaining member 111 is a guiding key.
  • the first retaining member 111 is disposed on the first arm segment 11 On the outer wall, the first retaining member 111 extends in the axial direction of the first arm section 11 and is adjacent to the opening of one end of the first arm section 11.
  • the structure of the locking portion 112 is the same as that of the previous two embodiments, and details are not described herein again.
  • the second arm section 12 is a hollow tubular structure, and includes a second retaining member 121 and a limiting slot 122.
  • the second retaining member 112 is a guiding slot.
  • the second retaining member 121 is disposed on the inner wall of the second arm section 12, and the second retaining member 121 extends along the axial direction of the second arm section 12.
  • the number of the second retaining members 121 is at least one. In the embodiment of the present invention, the number of the second retaining members 121 is three, and is evenly spaced along the circumferential direction of the second arm segment 12 The inner wall of the second arm section 12. In other possible embodiments, the number of the second retaining members 121 may also be plural, and the plurality of the second retaining members 121 are evenly spaced on the inner wall of the second arm segment 12 .
  • the number of the second retaining members 121 is the same as the number of the first retaining members 111.
  • the limiting groove 122 extends in the circumferential direction of the outer wall of the second arm section 12.
  • the limiting slot 122 may be disposed as a continuous slot extending around the circumference of the second arm section 12, and in other possible embodiments, may be set to multiple independent limits. Bit slot.
  • the first retaining member 111 can also be a guiding slot, and correspondingly, the second retaining member 121 is a guiding key.
  • Embodiments of the present invention provide a drone including a body and an arm connected to the body.
  • the arm includes a first portion coupled to the body and a second portion detachably coupled to the first portion.
  • the first portion connected to the fuselage may be hinged, integrally formed or detachably coupled to the fuselage, and the second portion detachably coupled to the first portion is used to secure the power unit, such as a motor and a propeller.
  • the power unit such as a motor and a propeller.
  • the first part may be the first arm section 11 described in the above embodiment, or may be the second arm section 12 described in the above embodiment.
  • the second part may be the second arm section 12 described in the above embodiment, or may be the first arm section 11 described in the above embodiment.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mutual Connection Of Rods And Tubes (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)

Abstract

一种机臂及无人机，机臂包括第一机臂段（11）和第二机臂段（12），所述第一机臂段（11）设置有锁紧部（112），所述第二机臂段（12）设置有限位部（122）。所述第一机臂段（11）与所述第二机臂段（12）通过所述锁紧部（112）与所述限位部（122）的锁紧配合可拆卸连接。无人机包括机身和与机身相连的机臂。该机臂不需要采用额外的操作工具即可实现快速安装与拆卸，提高了机臂拆装的简便性。

Description

一种机臂及无人机
相关申请的交叉引用
本申请要求于2016年12月13提交的申请号为201621374065.3的中国专利的优先权，其全部内容通过引用并入本申请文件。
技术领域
本发明实施例涉及无人机领域，特别是涉及一种机臂及无人机。
背景技术
无人机(Unmanned Aerial Vehicle,UAV)，其具有机动灵活、反应快速、无人飞行、操作要求低等优点。在无人机上装载多种传感器，例如摄像头，可以实现影像实时传输，高原地区探测等功能。无人机被广泛应用于消防、军事、交通、警务、勘探以及气象等领域，以实现对指定地区的巡航拍摄和监视。目前，无人机大多是多轴无人机，如四轴、六轴等，由于机臂相对机身呈放射状设置，具有体积大，运输不方便的缺点，同时，呈放射状设置的机臂可能会在运输过程中发生碰撞，导致整机的平衡性、稳定性产生偏差，影响无人机的正常使用。
现有的小型无人机大都使用固定的机臂结构，因此，在不需要使用时无法缩小其体积尺寸，不便于紧凑储存或者运输。对此，有些小型无人机采用了折叠结构机臂或者可伸缩机臂的方案。然而，这些方案一般都需要配合机械结构复杂的连接部，且操作过程较为繁琐，从而极大影响了无人机小型化的实施效果和操作的简便性。
发明内容
本发明实施例主要解决的技术问题是提供一种机臂及无人机，能够实现机臂的快速安装与拆卸。
为解决上述技术问题，本发明采用的一个技术方案是：提供一种机臂，包括第一机臂段和与所述第一机臂段可拆卸连接的第二机臂段，所述第一机臂段设置有锁紧部，所述第二机臂段设置有限位部；所述第一机臂段与所述第二机臂段通过所述锁紧部与所述限位部的锁紧配合可拆卸连接。
在本发明的一实施例中，所述锁紧部包括设置在所述第一机臂段上的锁芯以及可绕所述锁芯转动的锁紧主体。
在本发明的一实施例中，所述锁芯通过连接部设置在所述第一机臂段上。
在本发明的一实施例中，所述锁紧主体具有变化的直径。
在本发明的一实施例中，所述限位部为限位槽。
在本发明的一实施例中，所述限位槽沿所述第二机臂段的周向延伸。
在本发明的一实施例中，所述锁紧部还包括扣紧部，所述扣紧部所述锁紧主体的切线方向延伸。
在本发明的一实施例中，所述锁紧主体为凸轮。
在本发明的一实施例中，所述第一机臂段和所述第二机臂段均为中空结构，所述第一机臂段的内壁上设有第一固位件；所述第二机臂段的外壁上设有与所述第一固位件配合的第二固位件；
所述第一机臂段与所述第二机臂段通过所述第一固位件与所述第二固位件的配合进行轴向限位。
在本发明的一实施例中，所述第一固位件和所述第二固位件分别沿所述第一机臂段和所述第二机臂段的轴向延伸。
在本发明的一实施例中，所述第一固位件为导向键；所述第二固位件为导向槽。
在本发明的一实施例中，其特征在于，所述第一机臂段和所述第二机臂段均为中空结构，所述第一机臂段的外壁上设有第一固位件；所述第二机臂段的内壁上设有与所述第一固位件配合的第二固位件；
所述第一机臂段与所述第二机臂段通过所述第一固位件与所述第二固位件的配合进行轴向限位。
在本发明的一实施例中，所述第一固位件和所述第二固位件分别沿所述第一机臂段和所述第二机臂段的轴向延伸。
在本发明的一实施例中，所述第一固位件为导向槽；所述第二固位件为导向键。
在本发明的一实施例中，所述第一固位件和所述第二固位件的长度相等。
本发明解决其技术问题采用的另一技术方案为：构造一种无人机，包括机身和与所述机身相连的机臂，所述机臂包括与所述机身相连的第一部分和与所述第一部分可拆卸连接的第二部分。
在本发明的一实施例中，所述第一部分与所述机身固定连接或可拆卸连接。
在本发明的一实施例中，所述第一部分为上述所述的第一机臂段，所述第二部分为上述所述的第二机臂段。
在本发明的一实施例中，所述第一部分为上述所述的第二机臂段，所述第二部分为上述所述的第一机臂段。
本发明实施例的有益效果是：本发明实施例仅需扣下或松开锁紧部即可完成第一机臂段和第二机臂段的可拆卸连接，不需要使用额外的工具，从而可以实现机臂的快速安装与拆卸，大大提高了机臂拆装的简便性。
附图说明
图1是本发明一实施例提供的一种机臂的拆分图；
图2是图1所示机臂的装配图；
图3是图2所示的机臂在锁紧状态下的立体结构示意图；
图4是图3所示的机臂的横截面示意图；
图5是图3所示的机臂在松开状态下的横截面示意图；
图6是本发明另一实施例提供的一种机臂的拆分图；
图7是图6所示机臂的装配图；
图8是图7所示的机臂在锁紧状态下的立体结构示意图；
图9是图8所示的机臂的横截面示意图；
图10是图8所示的机臂在松开状态下的截面示意图；
图11是本发明又一实施例提供的一种机臂的拆分图。
具体实施方式
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”、“上”、“下”、“内”、“外”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。
除非另有定义，本说明书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。本说明书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，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
参阅图1，本发明其中一实施例提供的一种机臂包括：第一机臂段11及与第一机臂段11可拆卸连接的第二机臂段12。
第一机臂段11为中空的管状结构，其包括：设置在第一机臂段11内壁上的第一固位件111以及设置在第一机臂段11外壁上的锁紧部112。在本发明的一实施例中，第一固位件111为导向键。
在本发明的一实施例中，第一固位件111沿着第一机臂段11的轴向延伸。所述第一固位件111的数量为至少一个，在本发明的一实施例 中，第一固位件111的数量为三个，沿第一机臂段11内壁的周向方向均匀间隔设置。在其他可能的实施例中，第一固位件111的数量也可以为多个，多个所述第一固位件111均匀间隔设置在第一机臂段11的内壁上。
在本发明的一实施例中，锁紧部112的数量为三个，沿第一机臂段11的外壁的周向方向均匀间隔设置，且位于靠近第一机臂段11一端的开口位置。在其他可能的实施例中，锁紧部112的数量也可以为多个，多个锁紧部112沿第一机臂段11外壁的周向方向均匀间隔设置。在本发明的实施例中，可根据第二机臂段12的材质硬度、尺寸与重量，设计锁紧部112的数量，例如对于小型轻质的机臂，使用一个或两个锁紧部112即可，而对于大型较重的机臂，可增加至四个或四个以上的锁紧部112。
在本发明的一实施例中，锁紧部112包括设置在第一机臂段11外壁上的连接部113、与连接部113相连的锁芯114、可绕锁芯114转动并与锁芯114相连的锁紧主体115以及沿锁紧主体115切线方向延伸的扣紧部116。锁紧主体115具有变化的直径，扣紧部116用于方便用户转动锁紧主体115。在本发明的一实施例中，锁紧主体115可以为凸轮。。
第二机臂段12，为中空的管状结构，其包括：设置在第二机臂段12外壁上的第二固位件121以及沿第二机臂段12外壁的周向方向延伸的限位槽122。在本发明实施例中，所述第二固位件121为导向槽。
第二固位件121沿着第二机臂段12的轴向方向延伸，并靠近第二机臂段12的其中一端的开口设置。第二固位件121的位置与第一机臂段11上的第一固位件111的位置相对应，第二固位件121的长度可小于或等于第一固位件111的长度。所述第二固位件121的数量与第一固位件111的数量相对应。通过第二固位件121与第一固位件111配合相连从而实现第一机臂段11与第二机臂段12在插接配合后沿轴向方向的限位。
限位槽122的位置与第二固位件121的位置相邻，并且靠近第二机臂段12一端的开口。
图2是第一机臂段11与第二机臂段12插接配合的结构示意图。第 二机臂段12外壁的第二固位件121与第一机臂段11内壁的第一固位件111咬合，由于第一固位件111与第二固位件121的轴向限位作用，使得第一机臂段11与第二机臂段12插接后，锁紧主体115正好对准限位槽122。此时，第一机臂段11与第二机臂段12为活动连接，两者可以沿远离对方的方向轴向运动。
参阅图3，利用扣紧部116依次将周向均布的锁紧主体115按下扣紧，周向均布的锁紧部112能够保证第一机臂段11通过锁紧部112与第二机臂段12锁紧后，第二机臂段12受力均匀。由于锁紧主体115具有变化的直径，按下过程中锁紧主体115的直径逐渐加大并扣入至限位槽122中，对第二机臂段12形成一定程度的过盈挤压，以实现第二机臂段12与第一机臂段11的锁紧配合，防止第一机臂段11与第二机臂段12脱离。
参阅图4，当机臂处于锁紧状态时，锁紧主体115的直径较大处与第二机臂段12的外壁抵接，此时周向均布的锁紧主体115进入到第二机臂段12的限位槽122内，并形成过盈抱紧力，可实现第一机臂段11与第二机臂段12的锁紧配合。
参阅图5，当机臂处于松开状态时，锁紧主体115转动到直径较小处，此时锁紧主体115与第二机臂段12的外壁之间存在一定的间距，第二机臂段12可轻松拔出。
本发明实施例提供的机臂不需要采用额外的操作工具即可完成第一机臂段11与第二机臂段12的安装及拆卸。装入后的第二机臂段12不会出现弹性晃动、间隙配合晃动等情况。从而可以实现机臂的快速安装与拆卸，大大提高了机臂拆装的简便性。
参阅图6，本发明另一实施例提供的一种机臂包括：第一机臂段11及与第一机臂段11可拆卸连接的第二机臂段12。
第一机臂段11为中空的管状结构，其包括：设置在第一机臂段11内壁上的第一固位件111以及设置在第一机臂段11外壁上的锁紧部112。与上一实施例不同的是，在本实施例中，第一固位件111为导向 槽。
在本发明的一实施例中，第一固位件111沿着第一机臂段11的轴向延伸。所述第一固位件111的数量为至少一个，在本发明的一实施例中，第一固位件111的数量为三个，沿第一机臂段11内壁的周向方向均匀间隔设置。在其他可能的实施例中，第一固位件111的数量也可以为多个，多个所述第一固位件111均匀间隔设置在第一机臂段11的内壁上。
在本发明的一实施例中，锁紧部112的数量为三个，沿第一机臂段11的外壁的周向方向均匀间隔设置，且位于靠近第一机臂段11一端的开口位置。在其他可能的实施例中，锁紧部112的数量也可以为多个，多个锁紧部112沿第一机臂段11外壁的周向方向均匀间隔设置。在本发明的一实施例中，锁紧部112包括设置在第一机臂段11外壁上的连接部113、与连接部113相连的锁芯114、可绕锁芯114转动并与锁芯114相连的锁紧主体115以及沿锁紧主体115切线方向延伸的扣紧部116。锁紧主体115具有变化的直径，扣紧部116用于方便用户转动锁紧主体115。在本发明的一实施例中，锁紧主体115可以为凸轮。。
第二机臂段12，为中空的管状结构，其包括：设置在第二机臂段12外壁上的第二固位件121以及沿第二机臂段12外壁的周向方向延伸的限位槽122。与上一实施例不同的是，在本实施例中，所述第二固位件121为导向键。
第二固位件121沿着第二机臂段12的轴向方向延伸，并靠近第二机臂段12的其中一端的开口设置。第二固位件121的位置与第一机臂段11上的第一固位件111的位置相对应，第二固位件121的长度可小于或等于第一固位件111的长度。所述第二固位件121的数量与第一固位件111的数量相对应。通过第二固位件121与第一固位件111配合相连从而实现第一机臂段11与第二机臂段12在插接配合后沿轴向方向的限位。
限位槽122的位置与第二固位件121的位置相邻，并且靠近第二机臂段12一端的开口。
图7是第一机臂段11与第二机臂段12插接配合的结构示意图。第 二机臂段12外壁的第二固位件121与第一机臂段11内壁的第一固位件111咬合，由于第一固位件111与第二固位件121的轴向限位作用，使得第一机臂段11与第二机臂段12插接后，锁紧主体115正好对准限位槽122。此时，第一机臂段11与第二机臂段12为活动连接，两者可以沿远离对方的方向轴向运动。
参阅图8，利用扣紧部116依次将周向均布的锁紧主体115按下扣紧，周向均布的锁紧部112能够保证第一机臂段11通过锁紧部112与第二机臂段12锁紧后，第二机臂段12受力均匀。由于锁紧主体115具有变化的直径，按下过程中锁紧主体115的直径逐渐加大并扣入至限位槽122中，对第二机臂段12形成一定程度的过盈挤压，以实现第二机臂段12与第一机臂段11的锁紧配合，防止第一机臂段11与第二机臂段12脱离。
参阅图9，当机臂处于锁紧状态时，锁紧主体115的直径较大处与第二机臂段12的外壁抵接，此时周向均布的锁紧主体115进入到第二机臂段12的限位槽122内，并形成过盈抱紧力，可实现第一机臂段11与第二机臂段12的锁紧配合。
参阅图10，当机臂处于松开状态时，锁紧主体115转动到直径较小处，此时锁紧主体115与第二机臂段12的外壁之间存在一定的间距，第二机臂段12可轻松拔出。
本发明实施例提供的机臂不需要采用额外的操作工具即可完成第一机臂段11与第二机臂段12的安装及拆卸。装入后的第二机臂段12不会出现弹性晃动、间隙配合晃动等情况。从而可以实现机臂的快速安装与拆卸，大大提高了机臂拆装的简便性。
参阅图11，本发明又一实施例提供的一种机臂包括：第一机臂段11及第二机臂段12，第二机臂段12可拆卸连接于第一机臂段11。
第一机臂段11为中空管状结构，其包括：第一固位件111以及锁紧部112。在本发明的一实施例中，所述第一固位件111为导向键。
与上两个实施例不同的是，第一固位件111设置在第一机臂段11 的外壁上，第一固位件111沿着第一机臂段11的轴向方向延伸，并靠近第一机臂段11的其中一端的开口。
锁紧部112的结构与上两个实施例相同，在此不再赘述。
第二机臂段12为中空管状结构，其包括：第二固位件121以及限位槽122。在本发明的一实施例中，所述第二固位件112为导向槽。
与上两个实施例不同的是，第二固位件121设置在第二机臂段12的内壁上，第二固位件121沿着第二机臂段12的轴向延伸。所述第二固位件121的数量为至少一个，在本发明的实施例中，第二固位件121的数量为三个，沿第二机臂段12的周向方向均匀间隔设置在第二机臂段12的内壁上。在其他可能的实施例中，第二固位件121的数量也可以为多个，多个所述第二固位件121均匀间隔设置在第二机臂段12的内壁上。所述第二固位件121的数量与所述第一固位件111的数量相同。
限位槽122沿着第二机臂段12外壁的周向方向延伸。在本发明的实施例中，所述限位槽122可以设置成绕第二机臂段12的周向延伸的连续的槽，在其他可能的实施例中，可以设置成多个相互独立的限位槽。
在其他可能的实施例中，第一固位件111还可以为导向槽，相应地，第二固位件121为导向键。
本发明实施例提供了一种无人机，包括机身和与机身连接的机臂。机臂包括与机身相连的第一部分和与第一部分可拆卸连接的第二部分。
与机身相连的第一部分可以与机身铰接、一体成型或可拆卸连接，与第一部分可拆卸连接的第二部分用于固定动力装置，例如电机和螺旋桨。
第一部分可以为上述实施例中描述的第一机臂段11，也可以为上述实施例描述的第二机臂段12。相应的，第二部分可以为上述实施例中描述的第二机臂段12，也可以为上述实施例描述的第一机臂段11。
需要说明的是，本发明的说明书及其附图中给出了本发明的较佳的实施例，但是，本发明可以通过许多不同的形式来实现，并不限于本说明书所描述的实施例，这些实施例不作为对本发明内容的额外限制，提 供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。并且，上述各技术特征继续相互组合，形成未在上面列举的各种实施例，均视为本发明说明书记载的范围；进一步地，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本发明所附权利要求的保护范围。

Claims (19)

  1. 一种机臂，其特征在于，包括第一机臂段(11)和与所述第一机臂段可拆卸连接的第二机臂段(12)，所述第一机臂段(11)设置有锁紧部(112)，所述第二机臂段(12)设置有限位部(122)；所述第一机臂段(11)与所述第二机臂段(12)通过所述锁紧部(112)与所述限位部(122)的锁紧配合可拆卸连接。
  2. 根据权利要求1所述的机臂，其特征在于，所述锁紧部(112)包括设置在所述第一机臂段(11)上的锁芯(114)以及可绕所述锁芯(114)转动的锁紧主体(115)。
  3. 根据权利要求2所述的机臂，其特征在于，所述锁芯(114)通过连接部(113)设置在所述第一机臂段(11)上。
  4. 根据权利要求2或3所述的机臂，其特征在于，所述锁紧主体(115)具有变化的直径。
  5. 根据权利要求4所述的机臂，其特征在于，所述限位部(122)为限位槽。
  6. 根据权利要求5所述的机臂，其特征在于，所述限位槽沿所述第二机臂段(12)的周向延伸。
  7. 根据权利要求2-6任一项所述的机臂，其特征在于，所述锁紧部(112)还包括扣紧部(116)，所述扣紧部(116)沿所述锁紧主体(115)的切线方向延伸。
  8. 根据权利要求1-7任一项所述的机臂，其特征在于，所述锁紧主体(115)为凸轮。
  9. 根据权利要求1-8任一项所述的机臂，其特征在于，所述第一机臂段(11)和所述第二机臂段(12)均为中空结构，所述第一机臂段(11)的内壁上设有第一固位件(111)；所述第二机臂段(12)的外壁上设有与所述第一固位件(111)配合的第二固位件(121)；
    所述第一机臂段(11)与所述第二机臂段(12)通过所述第一固位件(111)与所述第二固位件(121)的配合进行轴向限位。
  10. 根据权利要求9所述的机臂，其特征在于，所述第一固位件(111)和所述第二固位件(121)分别沿所述第一机臂段(11)和所述第二机臂段(12)的轴向延伸。
  11. 根据权利要求9或10所述的机臂，其特征在于，所述第一固位件(111)为导向键；所述第二固位件(121)为导向槽。
  12. 根据权利要求1-8任一项所述的机臂，其特征在于，所述第一机臂段(11)和所述第二机臂段(12)均为中空结构，所述第一机臂段(11)的外壁上设有第一固位件(111)；所述第二机臂段(12)的内壁上设有与所述第一固位件(111)配合的第二固位件(121)；
    所述第一机臂段(11)与所述第二机臂段(12)通过所述第一固位件(111)与所述第二固位件(121)的配合进行轴向限位。
  13. 根据权利要求12所述的机臂，其特征在于，所述第一固位件(111)和所述第二固位件(121)分别沿所述第一机臂段(11)和所述第二机臂段(12)的轴向延伸。
  14. 根据权利要求12或13所述的机臂，其特征在于，所述第一固位件(111)为导向槽；所述第二固位件(121)为导向键。
  15. 根据权利要求10-11,13-14任一项所述的机臂，其特征在于，所述第一固位件(111)和所述第二固位件(121)的长度相等。
  16. 一种无人机，其特征在于，包括机身和与所述机身相连的机臂，所述机臂包括与所述机身相连的第一部分和与所述第一部分可拆卸连接的第二部分。
  17. 根据权利要求16所述的无人机，其特征在于，所述第一部分与所述机身固定连接或可拆卸连接。
  18. 根据权利要求16或17所述的无人机，其特征在于，所述第一部分为权利要求1-15任一项所述的第一机臂段(11)，所述第二部分为权利要求1-15任一项所述的第二机臂段(12)。
  19. 根据权利要求16或17所述的无人机，其特征在于，所述第一部分为权利要求1-15任一项所述的第二机臂段(12)，所述第二部分为权利要求1-15任一项所述的第一机臂段(11)。
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CN112810808A (zh) * 2021-02-10 2021-05-18 北京京东乾石科技有限公司 多旋翼无人机及其控制方法

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