WO2019028871A1

WO2019028871A1 - Frame assembly and unmanned aerial vehicle

Info

Publication number: WO2019028871A1
Application number: PCT/CN2017/097188
Authority: WO
Inventors: 任冠男
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-08-11
Filing date: 2017-08-11
Publication date: 2019-02-14
Also published as: CN108698706B; CN108698706A

Abstract

A frame assembly (10) and an unmanned aerial vehicle (100). The frame assembly (10) comprises a frame (12), a support frame (14), and a connecting mechanism (16). The frame (12) comprises a central frame (122) and struts (124) movably connected to the central frame (122). The support frame (14) is movably connected to the struts (124) and is used for bearing a load of the unmanned aerial vehicle (100). The connecting mechanism (16) is connected to the support frame (14) and the central frame (122). The support frame (14) is movably connected to the central frame (122) by the connecting mechanism (16), such that the support frame (14) can move vertically relative to the central frame (122). The struts (124) comprise support ends (1242) used for contacting with a landing surface. When the support ends (1242) of the struts (124) rise, the struts (124) lower the support frame (14) relative to the central frame (122), and when the support ends (1242) of the struts (124) are lowered, the struts (124) raise the support frame (14) relative to the central frame (122); alternatively, when the connecting mechanism (16) raises the support frame (14) relative to the central frame (122), the support frame (14) lowers the support ends (1242), and when the connecting mechanism (16) lowers the support frame (14) relative to the central frame (122), the support frame (14) raises the support ends (1242). When the unmanned aerial vehicle (100) is flying, a camera device (200) is lowered together with the support frame (14) to move away from the central frame (122), and the support ends (1242) of the struts (124) rise towards the central frame (122), such that when the camera device (200) performs image capture, the support ends (1242) of the struts (1242) do not block the line of sight of the camera device (200), thereby realizing 360-degree image capture.

Description

Rack assembly and drone

Technical field

The present invention relates to the field of aircraft, and in particular to a rack assembly and a drone.

Background technique

In the related art, the drone can be used for aerial photography. The fuselage of the drone is provided with a landing gear, and the landing gear supports the drone on the ground when the drone is landing. However, there is a camera under the fuselage. When the drone is aerial, the landing gear will block the camera's line of sight, affecting the camera's shooting range, and it is difficult to achieve 360-degree shooting.

Summary of the invention

Embodiments of the present invention provide a rack assembly and a drone.

The rack assembly of the embodiment of the invention includes:

a rack, the rack including a center frame, and a stand that is movably coupled to the center frame;

a support frame movably coupled to the stand, the support frame for carrying a load of the drone;

Connecting a connection mechanism of the support frame and the center frame, the support frame being movably connected to the center frame by the connection mechanism, so that the support frame can be lifted and lowered relative to the center frame;

Wherein the tripod includes a support end for contacting the landing surface; when the support end is raised, the tripod drives the support frame to descend relative to the center frame, when the support end is lowered, The tripod drives the support frame to rise relative to the center frame;

Or, when the connecting mechanism drives the support frame to rise relative to the center frame, the support frame drives the support end to descend, when the connecting mechanism drives the support frame to descend relative to the center frame. The support frame drives the support end to rise.

In the above frame assembly, when the support frame is lowered, the support end of the stand is raised, and when the support frame is raised, the support end of the stand is lowered, and the camera device can be mounted to the support frame. When the drone is in a navigation state, the camera device is supported by the support device. The frame is lowered away from the center frame, and the support end of the stand is raised close to the center frame, so that the support end of the stand does not block the line of sight of the camera when shooting, so as to achieve 360-degree shooting.

A drone according to an embodiment of the present invention includes:

a rack assembly according to any of the above embodiments;

A power assembly mounted on the frame assembly for providing flight power.

In the above-mentioned drone, when the support frame is lowered, the support end of the tripod is raised, and when the support frame is raised, the support end of the tripod is lowered, and the camera device can be mounted to the support frame. When the drone is in a navigation state, the camera device is supported by the support device. Rack away from the center The support end of the tripod rises close to the center frame, so that the support end of the tripod does not block the line of sight of the camera when shooting, so as to achieve 360-degree shooting.

The additional aspects and advantages of the embodiments of the present invention will be set forth in part in the description which follows.

DRAWINGS

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from

1 is a perspective view of a drone according to an embodiment of the present invention when the support frame is away from the center frame;

2 is a schematic plan view of the drone of the embodiment of the present invention when the support frame is away from the center frame;

3 is another schematic plan view of the drone of the embodiment of the present invention when the support frame is away from the center frame;

4 is a top plan view of the drone of the embodiment of the present invention when the support frame is away from the center frame;

5 is a perspective view of the drone of the embodiment of the present invention when the support frame is close to the center frame;

6 is a schematic plan view of the drone of the embodiment of the present invention when the support frame is close to the center frame;

7 is another schematic plan view of the drone of the embodiment of the present invention when the support frame is close to the center frame;

Figure 8 is a bottom plan view of the drone of the embodiment of the present invention with the support frame near the center frame.

The main component symbol drawing description:

UAV 100, rack assembly 10, frame 12, center frame 122, stand 124, support end 1242, connection end 1244, support frame 14, connection mechanism 16, link 162, first sub-rod 1622, second The sub-rod 1624, the connecting rod 17, the extension bracket 18, the arm 19, the power unit 20, the propeller 22, the pan-tilt unit 40, the pan/tilt head 42, the shaft mechanism 422, and the camera unit 200.

Detailed ways

Embodiments of the present invention will be further described below in conjunction with the accompanying drawings. The same or similar reference numerals in the drawings denote the same or similar elements or elements having the same or similar functions.

In addition, the embodiments of the present invention described below in conjunction with the accompanying drawings are merely illustrative of the embodiments of the invention, and are not to be construed as limiting.

In the present invention, the first feature "on" or "under" the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact. Moreover, the first feature "above", "above" and "above" the second feature may be that the first feature is directly above or above the second feature, or only It is only indicated that the first feature level is higher than the second feature. The first feature "below", "below" and "below" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.

Referring to FIGS. 1 and 5 , the rack assembly 10 of the embodiment of the present invention includes a frame 12 , a support frame 14 , and a connecting mechanism 16 . The frame 12 includes a center frame 122 and a stand 124 movably coupled to the center frame 122 . . The support frame 14 is movably coupled to the stand 124 for carrying the load of the drone 100. The connecting mechanism 16 connects the support frame 14 and the center frame 122. The support frame 14 is movably connected to the center frame 122 through the connecting mechanism 16 to enable the support frame 14 to be lifted and lowered relative to the center frame 122.

The stand 124 includes a support end 1242 for contacting the landing surface. When the support end 1242 is raised, the stand 124 drives the support frame 14 to descend relative to the center frame 122. When the support end 1242 is lowered, the stand 124 drives the support frame 14 to rise relative to the center frame 122; or, when the connecting mechanism 16 drives the support When the frame 14 is raised relative to the center frame 122, the support frame 14 drives the support end 1242 to descend. When the connecting mechanism 16 drives the support frame 14 to descend relative to the center frame 122, the support frame 14 drives the support end 1242 to rise.

In the above-mentioned frame assembly 10, when the support frame 14 is lowered, the support end 1242 of the stand 124 is raised, and when the support frame 14 is raised, the support end 1242 of the stand 124 is lowered, and the camera device 200 can be mounted to the support frame 14 as a drone. When the 100 is in the navigation state, the camera 200 is lowered away from the center frame 122 with the support frame 14, and the support end 1242 of the stand 124 is raised closer to the center frame 122, so that the support end 1242 of the stand 124 does not block when the camera 200 is photographed. The line of sight of the imaging device 200 is used to achieve 360 degree shooting.

Referring to FIGS. 5-8, when the drone 100 is lowered, the support end 1242 of the stand 124 is lowered, and the support frame 14 is raised. As such, when the image pickup apparatus 200 is mounted on the support frame 14, the drone 100 descends, and the stand 124 surrounds the image pickup apparatus 200, so that the image pickup apparatus 200 can be protected.

In some embodiments, the stand 124 is rotatably coupled to the center frame 122;

Alternatively, the stand 124 is slidably coupled to the center frame 122;

Or the support frame 14 is rotatably connected to the center frame 122 through the connecting mechanism 16;

Alternatively, the support frame 14 is slidably coupled to the center frame 122 by a coupling mechanism 16.

As such, the support frame 14 and the support frame 14 of the stand 124 can be moved up and down relative to the center frame 122.

It will be appreciated that the movable connection may be a rotary connection or a sliding connection. Of course, in other embodiments, the movable connection is not limited to the above connection manner.

Specifically, the stand 124 can be rotatably connected to the center frame 122, and the support frame 14 can be rotatably connected to the center frame 122 through the connecting mechanism 16. Alternatively, the stand 124 can be rotatably connected to the center frame 122, and the support frame 14 can be connected. The mechanism 16 is slidably connected to the center frame 122; the stand 124 can be slidably connected to the center frame 122, and the support frame 14 is rotatably connected to the center frame 122 through the connecting mechanism 16; and the stand 124 and the center frame 122 can be The support frame 14 is slidably coupled to the center frame 122 by a joint mechanism 16 .

In the embodiment of the present invention, the stand 124 is rotatably connected to the center frame 122, and the support frame 14 is rotatably connected to the center frame 122 through the connecting mechanism 16.

Referring to FIGS. 2, 3, 6, and 7, in some embodiments, the attachment mechanism 16 includes a link 162 that is movably coupled to the support frame 14 and the center frame 122.

As such, the link 162 drives the support frame 14 up and down relative to the center frame 122.

Specifically, the link 162 can be slidably coupled to the center frame 122, and the link 162 slides up and down to raise and lower the support frame 14 relative to the center frame 122. The link 162 can also be rotatably coupled to the center frame 122, and the link 162 rotates to drive the support frame 14 up and down relative to the center frame 122. It may also be a telescopic link 162 that extends up and down to drive the support frame 14 up and down relative to the center frame 122.

In the embodiment of the present invention, the link 162 is rotatably coupled to the center frame 122, and the link 162 is rotated to drive the support frame 14 to move up and down relative to the center frame 122.

In some embodiments, there are a plurality of links 162, each of the links 162 includes a first sub-rod 1622 and a second sub-rod 1624, the first sub-rod 1622 and the second sub-rod 1624 are rotatably connected, the first sub- The rod 1622 is movably coupled to the center frame 122, the second sub-rod 1624 is movably coupled to the support frame 14, and the first sub-rod 1622 is rotated relative to the second sub-rod 1624 to change the distance between the support frame 14 and the center frame 122 to drive the support. The frame 14 is raised and lowered for the center frame 122.

Thus, the link 162 is caused to move the support frame 14 up and down relative to the center frame 122 with a relatively simple structure.

Specifically, the first sub-rod 1622 is rotatably coupled to the center frame 122, and the second sub-rod 1624 is rotatably coupled to the support frame 14.

In the embodiment of the present invention, the first sub-rod 1622 is rotatably connected to the center frame 122, and the number of the connecting rods 162 is two, that is, the number of the first sub-rods 1622 is two, and the two first sub-rods 1622 are disposed. The second sub-rod 1624 is also rotatably connected to the two first sub-rods 1622 and the other end is rotatably connected to the support frame 14 . As such, the two first sub-rods 1622 and the two second sub-bars 1624 are provided such that the strength of the connecting rod 162 is better and the carrying capacity is stronger.

Of course, in other embodiments, the number of the links 162 is not limited to two, and may be one or two or more.

In the present embodiment, the first sub-rod 1622 is directly movably connected to the second sub-rod 1624. It can be understood that in other embodiments, an additional sub-bar may be disposed between the first sub-rod 1622 and the second sub-rod 1624 to movably connect the first sub-rod 1622 and the second sub-rod 1624.

In some embodiments, the attachment mechanism 16 includes a lead screw (not shown), the screw includes a screw and a threaded member that is sleeved on the screw, one of the screw and the threaded member is coupled to the support frame 14, and the other is coupled to the center frame. 122. The lead screw is extended and contracted relative to the center frame 122 to drive the support frame 14 to move up and down relative to the center frame 122.

Thus, the support frame 14 is lifted and lowered relative to the center frame 122 by the relative rotation of the screw and the screw.

It will be appreciated that the relative rotation of the screw and the threaded member causes the screw to move up and down relative to the threaded member, thereby causing the support frame 14 to move up and down relative to the center frame 122.

Specifically, it may be a screw connection support frame 14, the screw member is connected to the center frame 122, or a screw connection center frame 122, and the screw member is connected to the support frame 14.

In some embodiments, the stand 124 includes a connecting end 1244 opposite the support end 1242. The connecting end 1244 is movably coupled to the support frame 14. When the support frame 14 is raised relative to the center frame 122, the support frame 14 drives the connection end. When the 1244 is raised to lower the support end 1242 and the support frame 14 is lowered relative to the center frame 122, the support frame 14 drives the connection end 1244 to descend to raise the support end 1242.

As such, when the support frame 14 is raised relative to the center frame 122, the support end 1242 descends relative to the center frame 122; when the support frame 14 is lowered relative to the center frame 122, the support end 1242 rises relative to the center frame 122.

Specifically, in the present embodiment, the stand 124 is rotatably coupled to the center frame 122. When the support frame 14 rises relative to the center frame 122, the connection end 1244 rises with the support frame 14, and the stand 124 rotates, so that the support end 1242 descends relative to the center frame 122; when the support frame 14 descends relative to the center frame 122, the connection end The 1244 descends with the support frame 14, and the stand 124 rotates, thereby causing the support end 1242 to rise relative to the center frame 122.

In certain embodiments, the frame assembly 10 includes a connecting rod 17 that is movably coupled to the connecting end 1244 and the support frame 14.

In this way, the connection between the support frame 14 and the stand 124 is made more flexible.

Specifically, referring to FIG. 6, when the support frame 14 is raised to be closest to the center frame 122, the connecting rod 17 and the connecting end 1244 are in a locked state, and the connecting rod 17 and the supporting frame 14 are in a locked state. As such, the support frame 14 is made more stable, so that the image pickup apparatus 200 mounted on the support frame 14 is more stable.

In the embodiment of the present invention, the connecting rod 17 is rotatably connected to the connecting end 1244, and the connecting rod 17 is rotatably connected to the supporting frame 14. Of course, in other embodiments, the connecting rod 17 may be slidably connected to the connecting end 1244, the connecting rod 17 is rotatably connected to the supporting frame 14; the connecting rod 17 may be rotatably connected to the connecting end 1244, and the connecting rod 17 is slidably connected to the supporting frame 14; It is also possible that the connecting rod 17 is slidably connected to the connecting end 1244, and the connecting rod 17 is slidably connected to the supporting frame 14.

Referring to FIG. 2, in some embodiments, when the support frame 14 is lowered to the farthest from the center frame 122, the connecting rod 17 and the stand 124 are substantially in line.

In this way, when the support frame 14 is lowered to the farthest distance from the center frame 122, the connecting rod 17 and the stand 124 are in a locked state, and the structure of the stand 124 is more stable, and the stand 124 is prevented from blocking the camera device 200 mounted on the support frame 14. Sight.

In the embodiment of the present invention, when the support frame 14 is lowered to the farthest from the center frame 122, the first sub-rod 1622 and the second sub-rod 1624 are substantially on the same straight line, as shown in FIG. In this way, the support frame 14 is made more stable.

In some embodiments, the frame assembly 10 includes an extension bracket 18 that connects the center frame 122 and the foot frame 124. The connection between the extension bracket 18 and the foot frame 124 is between the connection end 1244 and the support end 1242, extending The bracket 18 is movably coupled to at least one of the center frame 122 and the stand 124.

As such, the structure of the frame assembly 10 is made more reasonable.

In particular, the active connection can be a rotary connection or a sliding connection. The extension bracket 18 may be movably connected to the center frame 122, and the extension bracket 18 is fixedly connected to the base frame 124. The extension bracket 18 may be fixedly connected to the center frame 122, the extension bracket 18 is movably connected to the stand 124, and may also be an extension bracket. 18 is movably coupled to the center frame 122, and the extension bracket 18 is movably coupled to the stand 124.

In the embodiment of the present invention, the extension bracket 18 and the center frame 122 are fixedly connected, and the extension bracket 18 and the foot frame 124 are rotatably connected. The stand 124 rotates relative to the extension bracket 18 such that the support end 1242 rises or falls relative to the center frame 122.

In some embodiments, the support frame 14 is lowered to the farthest from the center frame 122 when the support end 1242 is aligned with the height of the center frame 122. As shown in FIG. 2, the support frame 14 is raised to the support frame 14 when it is closest to the center frame 122. The height is higher than the height of the support end 1242, as shown in FIG.

Thus, when the support frame 14 is lowered to the farthest from the center frame 122, the support end 1242 does not block the support frame 14, so that the image pickup apparatus 200 mounted on the support frame 14 can realize 360 shooting. When the support frame 14 is raised to the nearest position to the center frame 122, the support end 1242 is supported on the landing surface, and the support frame 14 is higher than the landing surface, effectively protecting the image pickup device 200 on the support frame 14 and the support frame 14.

In certain embodiments, the frame assembly 10 includes at least two legs 124 that are angularly distributed along the central axis X of the center frame 122.

Thus, when the drone 100 is landed, the stand 124 can support the drone 100 more stably.

It can be understood that the rack assembly 10 can include two legs 124, and can also include three legs 124, and can also include any other two or more legs 124. In the embodiment of the present invention, the number of the frame assemblies 10 is two, and the axis is symmetrically disposed about the central axis of the center frame 122.

Specifically, the lifting and lowering of the support ends 1242 of the plurality of legs 124 relative to the center frame 122 is synchronous.

Preferably, when the support frame 14 is raised to the closest to the center frame 122, the support ends 1242 of the plurality of stand 124 are on the same level. In this way, the drone 100 can land smoothly.

In some embodiments, the frame assembly 10 includes a drive assembly (not shown) that is coupled to the attachment mechanism 16 and that is used to drive the linkage mechanism 16 to move the support frame 14 up and down relative to the center frame 122.

In this way, the drive assembly 16 drives the connection mechanism 16 to lift and lower the support frame 14 relative to the center frame 122, and drives the support end 1242 to move up and down relative to the center frame 122, thereby facilitating automatic control, simplifying the user operation process, and improving the user experience.

When the connecting mechanism 16 includes a screw, the screw includes a screw and a screw sleeved on the screw. The driving assembly can move the screw to move up and down relative to the screw by driving the screw to drive the support frame 14 to move up and down relative to the center frame 122. The drive assembly can also move the screw up and down relative to the threaded member by driving the screw member to move the support frame 14 up and down relative to the center frame 122.

In certain embodiments, the frame assembly 10 includes a drive assembly (not shown) that is coupled to the stand 124 and It is used to drive the support end 1242 to lift.

In this way, the support end 1242 is lifted and lowered relative to the center frame 122 by the driving member, and the support frame 14 is lifted and lowered relative to the center frame 122, which facilitates automatic control, simplifies the user operation process, and improves the user experience.

Specifically, the drive assembly can be coupled to the support end 1242 of the stand 124, and the support end 1242 of the drive stand 124 can be raised or lowered relative to the center frame 122. The drive assembly can also be coupled to the connection end 1244 of the stand 124. The support end 1242 can be lowered or raised relative to the center frame 122 by raising or lowering the connection end 1244 of the drive stand 124 relative to the center frame 122.

In certain embodiments, the drive assembly includes a steering gear coupled to the stand 124.

In this manner, the steering gear driving tripod 124 raises or lowers the support end 1242 of the tripod 124 relative to the center frame 122, and the driving method is simple and reliable.

Referring to FIGS. 1-8, a drone 100 according to an embodiment of the present invention includes the rack assembly 10 and the power assembly 20 of any of the above embodiments, and the power assembly 20 is mounted on the rack assembly 10 for providing flight. power.

In the above-mentioned drone 100, when the support frame 14 is lowered, the support end 1242 of the stand 124 is raised, and when the support frame 14 is raised, the support end 1242 of the stand 124 is lowered, and the camera 200 can be mounted to the support frame 14 as a drone. When the 100 is in the navigation state, the camera 200 is lowered away from the center frame 122 with the support frame 14, and the support end 1242 of the stand 124 is raised closer to the center frame 122, so that the support end 1242 of the stand 124 does not block when the camera 200 is photographed. The line of sight of the imaging device 200 is used to achieve 360 degree shooting.

In certain embodiments, the frame assembly 10 includes a boom 19 that is coupled to a center frame 122 and a power assembly 20 that is mounted to the arm 19.

As such, the arm 19 provides mounting support for the power assembly 20 such that the power assembly 20 provides flight power to the drone 100.

Referring to FIG. 4 , in some embodiments, the power assembly 20 includes a propeller 22 that is located furthest from the center frame 122 when the support end 1242 is located outside of the propeller 22 .

As such, the support end 1242 can function to protect the propeller 22, the center frame 122, and the arm 19 when the support frame 14 is furthest from the center frame 122.

Specifically, the support end 1242 is elongated, and the drone 100 includes four propellers 22 disposed around the central axis of the center frame 122. The length of the support end 1242 is greater than the maximum distance between the ends of two adjacent propellers 22. . In this way, the propeller 22 is effectively protected, and the collision of the propeller 22 with the outside is reduced.

In some embodiments, the drone 100 includes a flight controller (not shown) that is pre-set with a takeoff mode and a drop mode of the drone 100, and when the drone 100 is in a landing mode, flight control The controller is used to control the connecting mechanism 16 to drive the support frame 14 to rise relative to the center frame 122 to cause the support frame 14 to lower the support end 1242 of the stand 124; and when the drone 100 is in the take-off mode, the flight controller is used to control the connection mechanism 16 Drive the support frame 14 phase Lowering the center frame 122 to cause the support frame 14 to raise the support end 1242 of the stand 124; or

When the drone 100 is in the take-off mode, the flight controller is used to control the support end 1242 of the stand 124 to rise so that the stand 124 drives the support frame 14 to descend relative to the center frame 122; and when the drone 100 is in the landing mode, The flight controller is used to control the support end 1242 of the stand 124 to descend such that the stand 124 drives the support frame 14 to rise relative to the center frame 122.

As such, automatic control is achieved by the flight controller, and the support end 1242 automatically descends when the drone 100 is lowered, effectively protecting the other structure in which the support frame 14 is mounted on the support frame 14. It also reduces manual steps and improves the user experience.

Specifically, the rack assembly 10 includes a drive assembly.

In one example, the drive assembly is coupled to the attachment mechanism 16 and is used to drive the linkage mechanism 16 to cause the support frame 14 to move up and down relative to the center frame 122. When the drone 100 is in the landing mode, the flight controller is used to control the drive assembly driving connection mechanism 16 to drive the support frame 14 to rise relative to the center frame 122 to cause the support frame 14 to lower the support end 1242 of the stand 124; When the machine 100 is in the take-off mode, the flight controller is used to control the drive assembly drive connection mechanism 16 to drive the support frame 14 down relative to the center frame 122 to cause the support frame 14 to raise the support end 1242 of the stand 124.

In another example, the drive assembly is coupled to the stand 124 and is used to drive the support end 1242 up and down. When the drone 100 is in the take-off mode, the flight controller is used to control the support end 1242 of the drive assembly driving stand 124 to raise the support end 1242 so that the stand 124 drives the support frame 14 to descend relative to the center frame 122; When the machine 100 is in the landing mode, the flight controller is used to control the support end 1242 of the drive assembly driving stand 124 to lower the support end 1242 so that the stand 124 drives the support frame 14 to rise relative to the center frame 122.

In some embodiments, the drone 100 includes a pan-tilt device 40 that includes a pan-tilt 42 for carrying the camera device 200, the pan-tilt 42 being mounted to the support frame 14.

In this manner, the pan/tilt head 42 provides mounting support for the imaging device 200, so that the drone device 100 can mount the imaging device 200.

In some embodiments, the pan/tilt head 42 includes a spindle mechanism 422 for adjusting the angle of view of the camera device 200. The spindle mechanism 422 includes at least one of the following: a pitch axis mechanism, a roll axis mechanism, and a translation axis mechanism.

In this manner, the imaging device 200 provided on the pan/tilt head 42 can adjust the imaging angle, and the imaging device 200 can capture a wider range, and the imaging effect is better.

Specifically, as shown in FIG. 5, the pitch axis mechanism can be used to adjust the rotation around the x-axis of the imaging device 200; the translation axis mechanism can be used to adjust the rotation around the y-axis of the imaging device 200; the roll axis mechanism can be used to adjust the camera device 200. Rotate around the z axis. The x-axis, the y-axis, and the z-axis are perpendicular to each other.

In the description of the present specification, the description with reference to the terms "some embodiments", "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. Particular features, structures, materials or features described in the examples or examples are included in at least one embodiment or example of the invention. In this specification, the above surgery The schematic representation of the language is not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, various embodiments or examples described in the specification and features of various embodiments or examples may be combined and combined without departing from the scope of the invention.

Moreover, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" and "second" may include at least one feature, either explicitly or implicitly. In the description of the present invention, "a plurality" means at least two, for example two, three, unless specifically defined otherwise.

Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The scope of the invention is defined by the claims and their equivalents.

Claims

A rack assembly for a drone, characterized in that the rack assembly comprises:

a rack, the rack including a center frame, and a stand that is movably coupled to the center frame;

a support frame movably coupled to the stand, the support frame for carrying a load of the drone;

Connecting a connection mechanism of the support frame and the center frame, the support frame being movably connected to the center frame by the connection mechanism, so that the support frame can be lifted and lowered relative to the center frame;

Wherein the tripod includes a support end for contacting the landing surface; when the support end is raised, the tripod drives the support frame to descend relative to the center frame, when the support end is lowered, The tripod drives the support frame to rise relative to the center frame;

Or, when the connecting mechanism drives the support frame to rise relative to the center frame, the support frame drives the support end to descend, when the connecting mechanism drives the support frame to descend relative to the center frame. The support frame drives the support end to rise.
The rack assembly of claim 1 wherein said stand is rotatably coupled to said center frame;

Or the tripod is slidably connected to the center frame;

Or the support frame is rotatably connected to the center frame by the connecting mechanism;

Alternatively, the support frame is slidably coupled to the center frame by the connecting mechanism.
The frame assembly of claim 1 wherein said attachment mechanism includes a link that is movably coupled to said support frame and said center frame.
The frame assembly according to claim 3, wherein said plurality of links are each, and said link includes a first sub-bar and a second sub-bar, said first sub-rod and said first The two sub-rods are rotatably connected, the first sub-rod is movably connected to the center frame, the second sub-rod is movably connected to the support frame, and the first sub-rod is opposite to the second sub-rod To change the distance between the support frame and the center frame to drive the support frame to lift and lower the center frame.
The frame assembly of claim 1 wherein said attachment mechanism comprises a lead screw, said lead screw comprising a screw and a threaded member threaded over said screw, said screw and said threaded member One of the brackets is connected to the other, and the other is connected to the center frame, and the screw rod is telescoped relative to the center frame to drive the support frame to move up and down relative to the center frame.
The frame assembly of claim 1 wherein said foot frame includes a connector end opposite said support end, said connector end being movably coupled to said support frame,

When the support frame is raised relative to the center frame, the support frame drives the connection end to rise to lower the support end, and when the support frame is lowered relative to the center frame, the support frame drives the support frame Said connection is lowered to enable said The support end rises.
The frame assembly of claim 6 wherein said frame assembly includes a connecting rod that movably connects said connecting end and said support frame.
The frame assembly of claim 7 wherein said connecting rod is substantially co-located with said foot when said support frame is lowered to the farthest from said center frame.
The frame assembly of claim 6 wherein said frame assembly includes an extension bracket connecting said center frame and said stand, said extension bracket being coupled to said stand Located between the connecting end and the supporting end, the extension bracket is movably connected to at least one of the center frame and the stand.
The frame assembly according to claim 1, wherein the support frame is lowered to a distance from the center frame when the support end is at the same height as the center frame, and the support frame is raised to a distance The height of the support frame when the center frame is closest is higher than the height of the support end.
The frame assembly of claim 1 wherein said frame assembly includes at least two said legs, at least two of said legs being equiangularly distributed along a central axis of said center frame.
The rack assembly of claim 1 wherein said frame assembly includes a drive assembly coupled to said attachment mechanism and for driving said attachment mechanism to drive said support frame relative to said The center frame is raised and lowered.
The frame assembly of claim 1 wherein said frame assembly includes a drive assembly coupled to said stand and for driving said support end to lift.
The frame assembly of claim 14 wherein said drive assembly includes a steering gear coupled to said stand.
A drone characterized by comprising:

The frame assembly of any of claims 1-14;

A power assembly mounted on the frame assembly for providing flight power.
The drone according to claim 15, wherein said frame assembly includes a robot arm, said arm being coupled to said center frame, and said power assembly being mounted to said arm.
The drone according to claim 16, wherein said power assembly comprises a propeller, said support end being located outside said propeller when said support frame is furthest from said center frame.
The drone according to claim 15, wherein the drone includes a flight controller, and the flight controller is pre-set with a take-off mode and a landing mode of the drone.

When the drone is in the landing mode, the flight controller is configured to control the connecting mechanism to drive the support frame to rise relative to the center frame to cause the support frame to drive the support end to descend; and The flight controller is configured to control the connecting mechanism to drive the support frame relative to the center when the drone is in the takeoff mode Lowering the frame to cause the support frame to drive the support end to rise;

or

When the drone is in the take-off mode, the flight controller is configured to control the support end to rise to cause the stand to drive the support frame to descend relative to the center frame; and when the unmanned When the machine is in the landing mode, the flight controller is configured to control the support end to descend such that the tripod drives the support frame to rise relative to the center frame.
The drone according to claim 15, wherein the drone includes a pan-tilt device, the pan-tilt device includes a pan/tilt for carrying a photographing device, and the pan-tilt is mounted on the support frame .
The drone according to claim 19, wherein the pan/tilt head includes a rotating shaft mechanism for adjusting a shooting angle of view of the photographing device, and the rotating shaft mechanism includes at least one of: a pitch axis mechanism, a roll Shaft mechanism, translation shaft mechanism.